Finished Wrist

src/main/kotlin/com/team4099/robot2023/config/constants/WristConstants.kt

@@ -0,0 +1,52 @@
+package com.team4099.robot2023.config.constants
+
+import org.team4099.lib.units.Velocity
+import org.team4099.lib.units.base.amps
+import org.team4099.lib.units.base.seconds
+import org.team4099.lib.units.derived.*
+import org.team4099.lib.units.perMinute
+import org.team4099.lib.units.perSecond
+
+
+object WristConstants {
+   // val ROLLER_GEAR_RATIO = 0.0
+   // val ROLLER_VOLTAGE_COMPENSATION = 0.0.volts
+   // val ROLLER_STATOR_CURRENT_LIMIT = 0.0.amps
+
+    val WRIST_GEAR_RATIO = 0.0
+    val WRIST_VOLTAGE_COMPENSATION = 0.0.volts
+    val WRIST_STATOR_CURRENT_LIMIT = 0.0.amps
+
+    val WRIST_MAX_ROTATION = 0.0.degrees
+    val WRIST_MIN_ROTATION = 0.0.degrees
+    val WRRIST_KG = 0.0.volts
+    val WRIST_KV = 0.volts/1.0.radians.perSecond
+    val WRIST_KA = 0.1.volts/1.0.radians.perSecond.perSecond
+    val WRIST_KS = 0.0.volts
+
+
+   // val FEEDER_GEAR_RATIO = 0.0
+    //val FEEDER_VOLTAGE_COMPENSATION = 0.0.volts
+    //val FEEDER_STATOR_CURRENT_LIMIT = 0.0.amps
+
+    //val ROLLLER_INIT_VOLTAGE = 0.0.volts
+    //val FEEDER_INIT_VOLTAGE = 0.0.volts
+    val WRIST_INIT_VOLTAGE = 0.0.volts
+
+    //val ROLLER_SHOOTING_VOLTAGE = 0.0.volts
+    val WRIST_SOFTLIMIT_UPWARDSTURN = 0.0.degrees
+    val WRIST_SOFTLIMIT_DOWNWARDSTURN = 0.0.degrees
+
+    val MAX_WRIST_VELOCITY = 0.0.radians.perSecond
+    val MAX_WRIST_ACCELERATION =0.0.radians.perMinute.perSecond
+
+    val SHOOTER_WRIST_KP: ProportionalGain<Velocity<Radian>, Volt> =
+        0.001.volts / 1.0.rotations.perMinute
+    val SHOOTER_WRIST_KI: IntegralGain<Velocity<Radian>, Volt> =
+        0.0.volts / (1.0.rotations.perMinute * 1.0.seconds)
+    val SHOOTER_WRIST_KD: DerivativeGain<Velocity<Radian>, Volt> =
+        0.0.volts / (1.0.rotations.perMinute / 1.0.seconds)
+
+    val WRIST_TOLERANCE = 0.01.degrees
+
+}

src/main/kotlin/com/team4099/robot2023/subsystems/Shooter/Flywheel.kt

@@ -72,7 +72,7 @@ init{
 
                 nextState = fromRequestToState(currentRequest)
             }
-            //TODO do sensor logic (mayb ask p)
+            //TODO do sensor logic (mayb ask pranav)
             Flywheel.Companion.FlywheelStates.TARGETING_VELOCITY ->{
                 if (flywheelTargetVoltage != lastFlywheelVoltage){
                     val controlEffort: ElectricalPotential = flywheelFeedForward.calculate(desiredVelocity)