New intake

constants.py

@@ -78,26 +78,26 @@ class ElevatorConstants:
         SETPOINT_TOLERANCE = 0.1
 
     class PivotConstants:
-        INSIDE_ELEVATOR_ANGLE = 0.2 # Used for subsystem collision checking
-        ELEVATOR_PRIORITY_ANGLE = 0.123535 # We move the pivot to this position until the elevator has reached its setpoint.
-        STOW_ANGLE = 0.188
-        GROUND_INTAKE_ANGLE = -0.119385
-        FUNNEL_INTAKE_ANGLE = 0.28
-        ALGAE_INTAKE_ANGLE = -0.05
-        HIGH_SCORING_ANGLE =  0.21
-        MID_SCORING_ANGLE = 0.22
-        LOW_SCORING_ANGLE = -0.119385
+        INSIDE_ELEVATOR_ANGLE = 0.279297 # Used for subsystem collision checking
+        ELEVATOR_PRIORITY_ANGLE = 0.241943 # We move the pivot to this position until the elevator has reached its setpoint.
+        STOW_ANGLE = 0.267334
+        GROUND_INTAKE_ANGLE = -0.054688 
+        FUNNEL_INTAKE_ANGLE = 0.373
+        ALGAE_INTAKE_ANGLE = -0.04
+        HIGH_SCORING_ANGLE =  0.30
+        MID_SCORING_ANGLE = 0.30
+        LOW_SCORING_ANGLE = -0.065186
         NET_SCORING_ANGLE = 0.131
         PROCESSOR_SCORING_ANGLE = 0.001
-        CLIMBER_PRIORITY_ANGLE = 0.201943
+        CLIMBER_PRIORITY_ANGLE = 0.349365
 
         MINIMUM_ANGLE = -0.091
         MAXIMUM_ANGLE = 0.392822
 
         CRUISE_VELOCITY = 3
         MM_ACCELERATION = 3
 
-        GEAR_RATIO = 961/36
+        GEAR_RATIO = 23/1
         GAINS = (Slot0Configs()
                  .with_k_g(0.518)
                  .with_k_p(45)
@@ -110,16 +110,16 @@ class PivotConstants:
         )
 
         CANCODER_DISCONTINUITY = 0.5
-        CANCODER_OFFSET = 0.35009765625
+        CANCODER_OFFSET = -0.168701171875
 
         SETPOINT_TOLERANCE = 0.03125
 
     class IntakeConstants:
 
-        CORAL_INTAKE_SPEED = 0.4*1.2*1.1
-        FUNNEL_INTAKE_SPEED = 0.8*0.75
-        CORAL_OUTPUT_SPEED = 0.6
-        L1_OUTPUT_SPEED = -0.4
+        CORAL_INTAKE_SPEED = 1
+        FUNNEL_INTAKE_SPEED = 1
+        CORAL_OUTPUT_SPEED = 2
+        L1_OUTPUT_SPEED = -0.6
 
         ALGAE_HOLD = 0.125
         ALGAE_INTAKE_SPEED = 0.75

generated/tuner_constants.py

@@ -132,7 +132,7 @@ class TunerConstants:
     _front_left_drive_motor_id = 3
     _front_left_steer_motor_id = 7
     _front_left_encoder_id = 7
-    _front_left_encoder_offset: units.rotation = 0.155029296875
+    _front_left_encoder_offset: units.rotation = 0.146240234375
     _front_left_steer_motor_inverted = True
     _front_left_encoder_inverted = False
 
@@ -143,7 +143,7 @@ class TunerConstants:
     _front_right_drive_motor_id = 1
     _front_right_steer_motor_id = 5
     _front_right_encoder_id = 5
-    _front_right_encoder_offset: units.rotation = -0.27978515625
+    _front_right_encoder_offset: units.rotation = -0.282958984375
     _front_right_steer_motor_inverted = True
     _front_right_encoder_inverted = False
 
@@ -154,7 +154,7 @@ class TunerConstants:
     _back_left_drive_motor_id = 4
     _back_left_steer_motor_id = 8
     _back_left_encoder_id = 8
-    _back_left_encoder_offset: units.rotation = -0.241943359375
+    _back_left_encoder_offset: units.rotation = -0.45703125
     _back_left_steer_motor_inverted = True
     _back_left_encoder_inverted = False
 
@@ -165,7 +165,7 @@ class TunerConstants:
     _back_right_drive_motor_id = 2
     _back_right_steer_motor_id = 6
     _back_right_encoder_id = 6
-    _back_right_encoder_offset: units.rotation = -0.06494140625
+    _back_right_encoder_offset: units.rotation = -0.069580078125
     _back_right_steer_motor_inverted = True
     _back_right_encoder_inverted = False
 

pyproject.toml

@@ -1,6 +1,6 @@
 [tool.robotpy]
 
-robotpy_version = "2025.3.2.0"
+robotpy_version = "2025.3.2.2"
 
 robotpy_extras = [
     "apriltag",

subsystems/pivot.py

@@ -54,7 +54,7 @@ class SubsystemState(Enum):
      .with_feedback_sensor_source(FeedbackSensorSourceValue.REMOTE_CANCODER)
      .with_feedback_remote_sensor_id(Constants.CanIDs.PIVOT_CANCODER)
      )
-    _master_config.motor_output.inverted = InvertedValue.CLOCKWISE_POSITIVE
+    _master_config.motor_output.inverted = InvertedValue.COUNTER_CLOCKWISE_POSITIVE
     _master_config.motor_output.neutral_mode = NeutralModeValue.BRAKE
 
     _master_config.with_slot0(Constants.PivotConstants.GAINS)