From ff89d80e893b28e15028c6ef94bb9b8627fbbcdc Mon Sep 17 00:00:00 2001 From: ShmayaR Date: Sun, 28 Sep 2025 20:50:47 +0300 Subject: [PATCH 1/3] updated gear ratios --- .../robot/subsystems/armelevator/ArmElevatorConstants.java | 2 +- .../robot/subsystems/endeffector/EndEffectorConstants.java | 2 +- .../frc/trigon/robot/subsystems/intake/IntakeConstants.java | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/armelevator/ArmElevatorConstants.java b/src/main/java/frc/trigon/robot/subsystems/armelevator/ArmElevatorConstants.java index 8a9efe3..1d65103 100644 --- a/src/main/java/frc/trigon/robot/subsystems/armelevator/ArmElevatorConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/armelevator/ArmElevatorConstants.java @@ -50,7 +50,7 @@ public class ArmElevatorConstants { private static final double ARM_GEAR_RATIO = 40, - ELEVATOR_GEAR_RATIO = 4; + ELEVATOR_GEAR_RATIO = 3; private static final double REVERSE_LIMIT_RESET_POSITION_ROTATIONS = 0; private static final double ARM_MOTOR_CURRENT_LIMIT = 50, diff --git a/src/main/java/frc/trigon/robot/subsystems/endeffector/EndEffectorConstants.java b/src/main/java/frc/trigon/robot/subsystems/endeffector/EndEffectorConstants.java index e0c3afb..64d6a4b 100644 --- a/src/main/java/frc/trigon/robot/subsystems/endeffector/EndEffectorConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/endeffector/EndEffectorConstants.java @@ -26,7 +26,7 @@ public class EndEffectorConstants { static final SimpleSensor DISTANCE_SENSOR = SimpleSensor.createDigitalSensor(DISTANCE_SENSOR_CHANNEL, DISTANCE_SENSOR_NAME); static final boolean FOC_ENABLED = true; - private static final double END_EFFECTOR_GEAR_RATIO = 17; + private static final double END_EFFECTOR_GEAR_RATIO = 13; private static final int END_EFFECTOR_MOTOR_AMOUNT = 1; private static final DCMotor END_EFFECTOR_GEARBOX = DCMotor.getKrakenX60Foc(END_EFFECTOR_MOTOR_AMOUNT); private static final double diff --git a/src/main/java/frc/trigon/robot/subsystems/intake/IntakeConstants.java b/src/main/java/frc/trigon/robot/subsystems/intake/IntakeConstants.java index b7d1209..807ac3f 100644 --- a/src/main/java/frc/trigon/robot/subsystems/intake/IntakeConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/intake/IntakeConstants.java @@ -50,7 +50,7 @@ public class IntakeConstants { private static final double INTAKE_MOTOR_GEAR_RATIO = 4, - ANGLE_MOTOR_GEAR_RATIO = 28; + ANGLE_MOTOR_GEAR_RATIO = 40; static final boolean FOC_ENABLED = true; private static final int From 06916277df360912bbb814bb9eb05c4b64a48d05 Mon Sep 17 00:00:00 2001 From: Strflightmight09 <148347057+Strflightmight09@users.noreply.github.com> Date: Wed, 1 Oct 2025 01:17:58 +0300 Subject: [PATCH 2/3] the answer to life the universe and everythign Co-Authored-By: Nummun14 <142012009+Nummun14@users.noreply.github.com> --- .../robot/subsystems/armelevator/ArmElevatorConstants.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/armelevator/ArmElevatorConstants.java b/src/main/java/frc/trigon/robot/subsystems/armelevator/ArmElevatorConstants.java index 1d65103..244407a 100644 --- a/src/main/java/frc/trigon/robot/subsystems/armelevator/ArmElevatorConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/armelevator/ArmElevatorConstants.java @@ -49,7 +49,7 @@ public class ArmElevatorConstants { private static final SimpleSensor REVERSE_LIMIT_SENSOR = SimpleSensor.createDigitalSensor(REVERSE_LIMIT_SENSOR_CHANNEL, REVERSE_LIMIT_SENSOR_NAME); private static final double - ARM_GEAR_RATIO = 40, + ARM_GEAR_RATIO = 42, ELEVATOR_GEAR_RATIO = 3; private static final double REVERSE_LIMIT_RESET_POSITION_ROTATIONS = 0; private static final double From 31aa3078dd5f8695e680d6da0bc06ffc6827cf69 Mon Sep 17 00:00:00 2001 From: Strflightmight09 <148347057+Strflightmight09@users.noreply.github.com> Date: Wed, 1 Oct 2025 01:39:36 +0300 Subject: [PATCH 3/3] update Co-Authored-By: Nummun14 <142012009+Nummun14@users.noreply.github.com> --- .../robot/subsystems/endeffector/EndEffectorConstants.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/endeffector/EndEffectorConstants.java b/src/main/java/frc/trigon/robot/subsystems/endeffector/EndEffectorConstants.java index 64d6a4b..509f09e 100644 --- a/src/main/java/frc/trigon/robot/subsystems/endeffector/EndEffectorConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/endeffector/EndEffectorConstants.java @@ -26,7 +26,7 @@ public class EndEffectorConstants { static final SimpleSensor DISTANCE_SENSOR = SimpleSensor.createDigitalSensor(DISTANCE_SENSOR_CHANNEL, DISTANCE_SENSOR_NAME); static final boolean FOC_ENABLED = true; - private static final double END_EFFECTOR_GEAR_RATIO = 13; + private static final double END_EFFECTOR_GEAR_RATIO = 12.82; private static final int END_EFFECTOR_MOTOR_AMOUNT = 1; private static final DCMotor END_EFFECTOR_GEARBOX = DCMotor.getKrakenX60Foc(END_EFFECTOR_MOTOR_AMOUNT); private static final double