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Merged
spellingcat merged 3 commits into from
Apr 10, 2026
Merged

New shooter ratio #85

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6101270
change ratio
spellingcat Apr 9, 2026
b13356e
new feedforward from sysid
spellingcat Apr 9, 2026
010e3cd
make everything slightly slower
spellingcat Apr 9, 2026
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2 changes: 1 addition & 1 deletion src/main/java/frc/robot/Robot.java
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Original file line number Diff line number Diff line change
Expand Up @@ -422,7 +422,7 @@ public Robot() {
: new FlywheelIOSim(
TurretSubsystem.getFlywheelConfig(),
canivore,
TurretSubsystem.FLYWHEEL_GEAR_RATIO,
TurretSubsystem.NEW_FLYWHEEL_GEAR_RATIO,
11,
12),
ROBOT_MODE == RobotMode.REAL
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12 changes: 7 additions & 5 deletions src/main/java/frc/robot/subsystems/shooter/TurretSubsystem.java
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Original file line number Diff line number Diff line change
Expand Up @@ -59,7 +59,9 @@ public class TurretSubsystem extends SubsystemBase implements Shooter {
/** Creates a new TurretSubsystem. */
public static final double HOOD_GEAR_RATIO = 33.8671875; // 58.96875;

public static final double FLYWHEEL_GEAR_RATIO = 20.0 / 18.0; // 0.84615384615;
public static final double OLD_FLYWHEEL_GEAR_RATIO = 20.0 / 18.0; // 0.84615384615;

public static final double NEW_FLYWHEEL_GEAR_RATIO = 25.0 / 12.0;

public static final Rotation2d HOOD_MAX_ANGLE = Rotation2d.fromDegrees(56);
public static final Rotation2d HOOD_MIN_ANGLE = Rotation2d.fromDegrees(11.33);
Expand Down Expand Up @@ -508,12 +510,12 @@ public static TalonFXConfiguration getFlywheelConfig() {
config.MotorOutput.NeutralMode = NeutralModeValue.Coast;
config.MotorOutput.Inverted = InvertedValue.CounterClockwise_Positive;

config.Feedback.SensorToMechanismRatio = TurretSubsystem.FLYWHEEL_GEAR_RATIO;
config.Feedback.SensorToMechanismRatio = TurretSubsystem.NEW_FLYWHEEL_GEAR_RATIO;

// slot 0 is for velocity
config.Slot0.kS = 0.33706; // 0.63933;
config.Slot0.kV = 0.13893; // 0.11582;
config.Slot0.kA = 0.030026; // 0.020809;
config.Slot0.kS = 0.17257; // 0.33706; // 0.63933;
config.Slot0.kV = 0.25853; // 0.13893; // 0.11582;
config.Slot0.kA = 0.031279; // 0.030026; // 0.020809;
config.Slot0.kP = 0.67;
config.Slot0.kD = 0;

Expand Down
2 changes: 1 addition & 1 deletion src/main/java/frc/robot/subsystems/swerve/constants/comp/R1WispSwerveConstants.java
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Original file line number Diff line number Diff line change
Expand Up @@ -204,7 +204,7 @@ public Pigeon2Configuration getGyroConfig() {
config.MountPose.MountPoseYaw =
-175.72914123535156; // -90.44647216796875; // -90.93168640136719; // -86.66709899902344;

config.GyroTrim.GyroScalarZ = -4;//-2.5;
config.GyroTrim.GyroScalarZ = -4; // -2.5;
return config;
}

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60 changes: 30 additions & 30 deletions src/main/java/frc/robot/utils/autoaim/ShotTrees.java
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Original file line number Diff line number Diff line change
Expand Up @@ -42,81 +42,81 @@ public class ShotTrees {
1.716849,
new ShotData(
Rotation2d.fromDegrees(23 - 13.16),
30 * 0.84615384615 / TurretSubsystem.FLYWHEEL_GEAR_RATIO + 1,
0.95 * (30 * 0.84615384615 / TurretSubsystem.OLD_FLYWHEEL_GEAR_RATIO + 1),
0.8));
COMP_HUB_SHOT_TREE.put(
2.017596,
new ShotData(
Rotation2d.fromDegrees(23 - 13.16),
33 * 0.84615384615 / TurretSubsystem.FLYWHEEL_GEAR_RATIO + 1,
0.95 * (33 * 0.84615384615 / TurretSubsystem.OLD_FLYWHEEL_GEAR_RATIO + 1),
0.9));
COMP_HUB_SHOT_TREE.put(
2.423868,
new ShotData(
Rotation2d.fromDegrees(25 - 13.16),
35 * 0.84615384615 / TurretSubsystem.FLYWHEEL_GEAR_RATIO + 1,
0.95 * (35 * 0.84615384615 / TurretSubsystem.OLD_FLYWHEEL_GEAR_RATIO + 1),
1.1));
COMP_HUB_SHOT_TREE.put(
2.664198,
new ShotData(
Rotation2d.fromDegrees(26 - 13.16),
36 * 0.84615384615 / TurretSubsystem.FLYWHEEL_GEAR_RATIO + 1,
0.95 * (36 * 0.84615384615 / TurretSubsystem.OLD_FLYWHEEL_GEAR_RATIO + 1),
1.2));
COMP_HUB_SHOT_TREE.put(
2.903207,
new ShotData(
Rotation2d.fromDegrees(30 - 13.16),
35 * 0.84615384615 / TurretSubsystem.FLYWHEEL_GEAR_RATIO + 1,
0.95 * (35 * 0.84615384615 / TurretSubsystem.OLD_FLYWHEEL_GEAR_RATIO + 1),
1.2));
COMP_HUB_SHOT_TREE.put(
3.156802,
new ShotData(
Rotation2d.fromDegrees(32 - 13.16),
35 * 0.84615384615 / TurretSubsystem.FLYWHEEL_GEAR_RATIO + 1,
0.95 * (35 * 0.84615384615 / TurretSubsystem.OLD_FLYWHEEL_GEAR_RATIO + 1),
1.23));
COMP_HUB_SHOT_TREE.put(
3.437033,
new ShotData(
Rotation2d.fromDegrees(34 - 13.16),
35 * 0.84615384615 / TurretSubsystem.FLYWHEEL_GEAR_RATIO + 1,
0.95 * (35 * 0.84615384615 / TurretSubsystem.OLD_FLYWHEEL_GEAR_RATIO + 1),
1.25));
COMP_HUB_SHOT_TREE.put(
3.611052,
new ShotData(
Rotation2d.fromDegrees(38 - 13.16),
34 * 0.84615384615 / TurretSubsystem.FLYWHEEL_GEAR_RATIO + 1,
0.95 * (34 * 0.84615384615 / TurretSubsystem.OLD_FLYWHEEL_GEAR_RATIO + 1),
1.24));
COMP_HUB_SHOT_TREE.put(
3.773999,
new ShotData(
Rotation2d.fromDegrees(39 - 13.16),
34 * 0.84615384615 / TurretSubsystem.FLYWHEEL_GEAR_RATIO + 1,
0.95 * (34 * 0.84615384615 / TurretSubsystem.OLD_FLYWHEEL_GEAR_RATIO + 1),
1.21));
COMP_HUB_SHOT_TREE.put(
3.899275,
new ShotData(
Rotation2d.fromDegrees(40 - 13.16),
34 * 0.84615384615 / TurretSubsystem.FLYWHEEL_GEAR_RATIO + 1,
0.95 * (34 * 0.84615384615 / TurretSubsystem.OLD_FLYWHEEL_GEAR_RATIO + 1),
1.2));
COMP_HUB_SHOT_TREE.put(
4.138058,
new ShotData(
Rotation2d.fromDegrees(41 - 13.16),
34 * 0.84615384615 / TurretSubsystem.FLYWHEEL_GEAR_RATIO + 1,
0.95 * (34 * 0.84615384615 / TurretSubsystem.OLD_FLYWHEEL_GEAR_RATIO + 1),
1.13));

// budget shots
COMP_HUB_SHOT_TREE.put(4.172776, new ShotData(Rotation2d.fromDegrees(36), 25.5, 1.13));
COMP_HUB_SHOT_TREE.put(4.172776, new ShotData(Rotation2d.fromDegrees(36), 0.95 * 25.5, 1.13));

COMP_HUB_SHOT_TREE.put(4.512483, new ShotData(Rotation2d.fromDegrees(34), 25.5, 1.2));
COMP_HUB_SHOT_TREE.put(4.512483, new ShotData(Rotation2d.fromDegrees(34), 0.95 * 25.5, 1.2));

COMP_HUB_SHOT_TREE.put(4.974656, new ShotData(Rotation2d.fromDegrees(39), 27, 1.2));
COMP_HUB_SHOT_TREE.put(4.974656, new ShotData(Rotation2d.fromDegrees(39), 0.95 * 27, 1.2));

COMP_HUB_SHOT_TREE.put(5.116029, new ShotData(Rotation2d.fromDegrees(39.5), 27.5, 1.1));
COMP_HUB_SHOT_TREE.put(5.116029, new ShotData(Rotation2d.fromDegrees(39.5), 0.95 * 27.5, 1.1));

COMP_HUB_SHOT_TREE.put(5.509574, new ShotData(Rotation2d.fromDegrees(40), 28, 1.12));
COMP_HUB_SHOT_TREE.put(5.509574, new ShotData(Rotation2d.fromDegrees(40), 0.95 * 28, 1.12));

COMP_HUB_SHOT_TREE.put(5.63499, new ShotData(Rotation2d.fromDegrees(40), 28, 1.12));
COMP_HUB_SHOT_TREE.put(5.63499, new ShotData(Rotation2d.fromDegrees(40), 0.95 * 28, 1.12));

// COMP_HUB_SHOT_TREE.put(
// 4.602258,
Expand Down Expand Up @@ -175,80 +175,80 @@ public class ShotTrees {
Units.feetToMeters(18),
new ShotData(
Rotation2d.fromDegrees(40 - 13.16),
36 * 0.84615384615 / TurretSubsystem.FLYWHEEL_GEAR_RATIO + 1,
36 * 0.84615384615 / TurretSubsystem.OLD_FLYWHEEL_GEAR_RATIO + 1,
1.42)); // - 2, 1.42));
FEED_SHOT_TREE.put(
Units.feetToMeters(20),
new ShotData(
Rotation2d.fromDegrees(43 - 13.16),
38 * 0.84615384615 / TurretSubsystem.FLYWHEEL_GEAR_RATIO + 1,
38 * 0.84615384615 / TurretSubsystem.OLD_FLYWHEEL_GEAR_RATIO + 1,
1.36)); // - 2, 1.36));
FEED_SHOT_TREE.put(
Units.feetToMeters(22),
new ShotData(
Rotation2d.fromDegrees(45 - 13.16),
39 * 0.84615384615 / TurretSubsystem.FLYWHEEL_GEAR_RATIO + 1,
39 * 0.84615384615 / TurretSubsystem.OLD_FLYWHEEL_GEAR_RATIO + 1,
1.34)); // - 2, 1.34));
FEED_SHOT_TREE.put(
Units.feetToMeters(24),
new ShotData(
Rotation2d.fromDegrees(47 - 13.16),
40 * 0.84615384615 / TurretSubsystem.FLYWHEEL_GEAR_RATIO + 1,
40 * 0.84615384615 / TurretSubsystem.OLD_FLYWHEEL_GEAR_RATIO + 1,
1.25)); // - 2, 1.25));
FEED_SHOT_TREE.put(
Units.feetToMeters(26),
new ShotData(
Rotation2d.fromDegrees(48 - 13.16),
41 * 0.84615384615 / TurretSubsystem.FLYWHEEL_GEAR_RATIO + 1,
41 * 0.84615384615 / TurretSubsystem.OLD_FLYWHEEL_GEAR_RATIO + 1,
1.28)); // - 2, 1.28));
FEED_SHOT_TREE.put(
Units.feetToMeters(28),
new ShotData(
Rotation2d.fromDegrees(49 - 13.16),
43 * 0.84615384615 / TurretSubsystem.FLYWHEEL_GEAR_RATIO + 1,
43 * 0.84615384615 / TurretSubsystem.OLD_FLYWHEEL_GEAR_RATIO + 1,
1.27)); // - 2, 1.27));
FEED_SHOT_TREE.put(
Units.feetToMeters(30),
new ShotData(
Rotation2d.fromDegrees(49 - 13.16),
44 * 0.84615384615 / TurretSubsystem.FLYWHEEL_GEAR_RATIO + 1,
44 * 0.84615384615 / TurretSubsystem.OLD_FLYWHEEL_GEAR_RATIO + 1,
1.32)); // - 2, 1.32));
FEED_SHOT_TREE.put(
Units.feetToMeters(32),
new ShotData(
Rotation2d.fromDegrees(49 - 13.16),
46 * 0.84615384615 / TurretSubsystem.FLYWHEEL_GEAR_RATIO + 1,
46 * 0.84615384615 / TurretSubsystem.OLD_FLYWHEEL_GEAR_RATIO + 1,
1.4)); // - 2, 1.4));

FEED_SHOT_TREE.put(
Units.feetToMeters(34),
new ShotData(
Rotation2d.fromDegrees(52 - 13.16),
47 * 0.84615384615 / TurretSubsystem.FLYWHEEL_GEAR_RATIO + 1,
47 * 0.84615384615 / TurretSubsystem.OLD_FLYWHEEL_GEAR_RATIO + 1,
1.3)); // - 2, 1.3));
FEED_SHOT_TREE.put(
Units.feetToMeters(36),
new ShotData(
Rotation2d.fromDegrees(53 - 13.16),
51 * 0.84615384615 / TurretSubsystem.FLYWHEEL_GEAR_RATIO + 1,
51 * 0.84615384615 / TurretSubsystem.OLD_FLYWHEEL_GEAR_RATIO + 1,
1.33)); // - 2, 1.33));
FEED_SHOT_TREE.put(
Units.feetToMeters(38),
new ShotData(
Rotation2d.fromDegrees(53 - 13.16),
55 * 0.84615384615 / TurretSubsystem.FLYWHEEL_GEAR_RATIO + 1,
55 * 0.84615384615 / TurretSubsystem.OLD_FLYWHEEL_GEAR_RATIO + 1,
1.3)); // - 2, 1.3));
FEED_SHOT_TREE.put(
Units.feetToMeters(40),
new ShotData(
Rotation2d.fromDegrees(55 - 13.16),
55 * 0.84615384615 / TurretSubsystem.FLYWHEEL_GEAR_RATIO + 1,
55 * 0.84615384615 / TurretSubsystem.OLD_FLYWHEEL_GEAR_RATIO + 1,
1.2)); // - 2, 1.2));
FEED_SHOT_TREE.put(
Units.feetToMeters(42),
new ShotData(
Rotation2d.fromDegrees(56 - 13.16),
57 * 0.84615384615 / TurretSubsystem.FLYWHEEL_GEAR_RATIO + 1,
57 * 0.84615384615 / TurretSubsystem.OLD_FLYWHEEL_GEAR_RATIO + 1,
1.2)); // - 2, 1.2));
}

Expand Down
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