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Vivian add constants position encoder conversion factors #30

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Vivian add constants position encoder conversion factors #30

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0120701
added comments to clarify how encoder conversion factors work
vivianq05 Nov 16, 2025
2ebc22c
added position and encoder conversion factors
vivianq05 Nov 17, 2025
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18 changes: 15 additions & 3 deletions src/main/java/frc/robot/subsystems/Drivetrain.java
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Original file line number Diff line number Diff line change
Expand Up @@ -15,6 +15,8 @@
import edu.wpi.first.units.measure.LinearVelocity;
import edu.wpi.first.wpilibj2.command.SubsystemBase;



public class Drivetrain extends SubsystemBase {
private SparkMax rightFront = new SparkMax (3, SparkLowLevel.MotorType.kBrushless);
private SparkMax leftFront = new SparkMax (1, SparkLowLevel.MotorType.kBrushless);
Expand All @@ -23,9 +25,19 @@ public class Drivetrain extends SubsystemBase {

private final SparkClosedLoopController motorRightClosedLoopController;
private final SparkClosedLoopController motorLeftClosedLoopController;

private final Distance ENCODER_POSITION_FACTOR = Inches.of(8 * Math.PI * (10./52.) * (30./68.));
private final Distance ENCODER_VELOCITY_FACTOR = Inches.of((8 * Math.PI * (10./52.) * (30./68.)) / 60.0); //inches per rotation

/* 8 inches for diameter of wheel
multiplied by pi to get circumference
10/52 is the gear ratio for the motor gear and gear it's connected to
30/68 is the gear ratio for the last two gears */
private final double WHEEL_CIRCUMFERENCE = 8 * Math.PI;
private final double MOTOR_GEAR_REDUCTION = (10./52.);
private final double FINAL_TWO_GEAR_REDUCTION = (30./68.);

private final Distance ENCODER_POSITION_FACTOR = Inches.of(WHEEL_CIRCUMFERENCE * MOTOR_GEAR_REDUCTION * FINAL_TWO_GEAR_REDUCTION);

//distance divided by 60 to get velocity in inches per second
private final Distance ENCODER_VELOCITY_FACTOR = Inches.of(ENCODER_POSITION_FACTOR.in(Inches)).divide(60);

private final double drivetrainP = 0.08;

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