changed lifter gear ratio and controller gains (#127)

* changed lifter gear ratio and controller gains

* tuned p

* spotless

---------

Co-authored-by: nlaverdure <[email protected]>

Author: DylanTaylor29

src/main/java/frc/robot/elevator/ElevatorConstants.java

@@ -23,7 +23,7 @@ public static final class LifterConstants {
 
     // By default, the encoder in position mode measures rotations at the motor
     // Convert to inches at the final stage
-    private static final double gearRatioMotorToMechanism = 3.0 / 15.0;
+    private static final double gearRatioMotorToMechanism = 3.0 / 5.0;
     private static final Distance sprocketPitchDiameter = Inches.of(1.7567);
     public static final Distance kPositionConversionFactor =
         sprocketPitchDiameter.times(Math.PI).times(gearRatioMotorToMechanism);
@@ -46,11 +46,13 @@ public static final class LifterConstants {
     public static final Distance kAllowableHeightError = Inches.of(0.2);
 
     public final class LifterController {
-      public static final double kS = 0.13; // Found empirically 2/22/2025
-      public static final double kG = 0.194; // Found empirically 2/22/2025
+      // Found empirically 2/22/2025, then increased by 3x when 3:1 gearing was removed
+      public static final double kS = 0.39;
+      public static final double kG = 0.582;
+
       public static final double kV = (12.0 - kS) / maxTheoreticalVelocity.in(MetersPerSecond);
 
-      public static final double kP = 40.0;
+      public static final double kP = 10.0;
       public static final double kI = 0.0;
       public static final double kD = 0.0;
       public static final Constraints kConstraints =