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Pivot motor: add gravity compensation and auto-zero on enable #528

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Pivot motor: add gravity compensation and auto-zero on enable #528

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10 changes: 7 additions & 3 deletions src/main/java/frc/robot/subsystems/Collector.java
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Original file line number Diff line number Diff line change
Expand Up @@ -69,7 +69,10 @@ public class CollectorConstants {
public static final double PIVOT_KI = 0d; // temp
public static final double PIVOT_KD = 0d; // temp
public static final double PIVOT_KS = 0; // temp
public static final double PIVOT_KG = 0d; // temp
// Gravity compensation voltage. Negative = upward force (same convention
// as Hood kG). START LOW and increase until the arm holds position without
// sagging. If the arm drifts up, make the value less negative (closer to 0).
public static final double PIVOT_KG = RobotMap.IS_OASIS ? -0.15d : -0.15d; // tune me!

Copilot AI Apr 6, 2026

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The conditional on RobotMap.IS_OASIS is currently redundant because both branches use the same value (-0.15d). This adds noise and implies the constants may diverge when they don’t. Consider replacing with a single literal (or provide distinct tuned values per robot if that was the intent).

Suggested change
public static final double PIVOT_KG = RobotMap.IS_OASIS ? -0.15d : -0.15d; // tune me!
public static final double PIVOT_KG = -0.15d; // tune me!

Copilot uses AI. Check for mistakes.


// pivot
Expand Down Expand Up @@ -118,12 +121,12 @@ public class CollectorConstants {
private MechanismLigament2d ligament;
private Angle targetPivotPosition;
private PositionVoltage positionPID;
private boolean pivotZeroed = true;
private boolean pivotZeroed = false; // false = will auto-zero on first enable
private final Timer zeroingTimer = new Timer();
private boolean pivotActive = false;
private BooleanEntry requestZeroingDeploy;
private BooleanEntry requestZeroingStow;
private boolean stowZero = false;
private boolean stowZero = true; // true = zero toward stow (retracted) hard stop on startup

private DCMotor gearbox;

Expand Down Expand Up @@ -153,6 +156,7 @@ public Collector() {
pivotConfig.Slot0.kI = CollectorConstants.PIVOT_KI;
pivotConfig.Slot0.kD = CollectorConstants.PIVOT_KD;
pivotConfig.Slot0.kS = CollectorConstants.PIVOT_KS;
pivotConfig.Slot0.kG = CollectorConstants.PIVOT_KG;
pivotConfig.Feedback.SensorToMechanismRatio = CollectorConstants.ENCODER_TO_MECHANISM_RATIO;

pivotConfig.CurrentLimits.StatorCurrentLimitEnable = CollectorConstants.PIVOT_SUPPLY_LIMIT_ENABLE;
Expand Down
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