updated physical constants (drive, elevator)

SciBorgs · Feb 1, 2025 · dbdf8f5 · dbdf8f5
1 parent 193efb7
commit dbdf8f5
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Showing 2 changed files with 7 additions and 6 deletions.
diff --git a/src/main/java/org/sciborgs1155/robot/drive/DriveConstants.java b/src/main/java/org/sciborgs1155/robot/drive/DriveConstants.java
@@ -33,11 +33,11 @@ public static enum ControlMode {
   public static final Time SENSOR_PERIOD = Seconds.of(0.02);
 
   // Distance between centers of right and left wheels on robot
-  public static final Distance TRACK_WIDTH = Meters.of(0.5715);
+  public static final Distance TRACK_WIDTH = Meters.of(0.5931); // .5884 //.5931
   // Distance between front and back wheels on robot
-  public static final Distance WHEEL_BASE = Meters.of(0.5715);
+  public static final Distance WHEEL_BASE = Meters.of(0.59077); // .59077
   // The radius of any swerve wheel
-  public static final Distance WHEEL_RADIUS = Inches.of(1.5);
+  public static final Distance WHEEL_RADIUS = Inches.of(2); // 4/00 dia, 2.00 rad
   // Distance from the center to any wheel of the robot
   public static final Distance RADIUS = TRACK_WIDTH.div(2).times(Math.sqrt(2));
   // Coefficient of friction between the drive wheel and the carpet.

diff --git a/src/main/java/org/sciborgs1155/robot/elevator/ElevatorConstants.java b/src/main/java/org/sciborgs1155/robot/elevator/ElevatorConstants.java
@@ -30,11 +30,12 @@ public class ElevatorConstants {
   public static final LinearVelocity MAX_VELOCITY = MetersPerSecond.of(1);
   public static final LinearAcceleration MAX_ACCEL = MetersPerSecondPerSecond.of(1);
 
-  public static final Mass WEIGHT = Kilograms.of(20);
+  public static final Mass WEIGHT = Kilograms.of(20); //
   public static final Distance DRUM_RADIUS = Meters.of(.1);
   public static final double GEARING = 20 / 1;
-  public static final Distance SPROCKET_RADIUS = Inches.of(1);
-  public static final Distance SPROCKET_CIRCUMFRENCE = SPROCKET_RADIUS.times(2 * Math.PI);
+  public static final Distance SPROCKET_RADIUS = Inches.of(0.8785); // .8785
+  public static final Distance SPROCKET_CIRCUMFRENCE =
+      SPROCKET_RADIUS.times(2 * Math.PI); // .944 * 2pi
   // Input to Output; "values greater than one represent a reduction"
   public static final double CONVERSION_FACTOR = GEARING / SPROCKET_CIRCUMFRENCE.in(Meters) / 2;