Merge pull request #21 from frc461/new-gear-ratios

updated gear ratios + top speeds
frc461 · Mar 9, 2024 · 64b1a35 · 64b1a35
2 parents 2b8f7e5 + 7a89124
commit 64b1a35
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Showing 2 changed files with 6 additions and 4 deletions.
diff --git a/src/main/java/frc/lib/util/COTSFalconSwerveConstants.java b/src/main/java/frc/lib/util/COTSFalconSwerveConstants.java
@@ -86,7 +86,7 @@ public static COTSFalconSwerveConstants SDSMK4i(double driveGearRatio){
     }
 
     /* Drive Gear Ratios for all supported modules */
-    public class driveGearRatios{
+    public class driveGearRatios {
         /* SDS MK3 */
         /** SDS MK3 - 8.16 : 1 */
         public static final double SDSMK3_Standard = (8.16 / 1.0);
@@ -110,6 +110,8 @@ public class driveGearRatios{
         public static final double SDSMK4i_L2 = (6.75 / 1.0);
         /** SDS MK4i - 6.12 : 1 */
         public static final double SDSMK4i_L3 = (6.12 / 1.0);
+        /** SDS MK4i - L3_PLUS - 5.3571 : 1 */
+        public static final double SDSMK4i_L3_PLUS = (5.3571 / 1.0);
     }
 }
 

diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -144,7 +144,7 @@ public static final class Swerve {
         public static final double MAXIMUM_ANGLE = 180.0;
 
         public static final COTSFalconSwerveConstants CHOSEN_MODULE = COTSFalconSwerveConstants
-                .SDSMK4i(COTSFalconSwerveConstants.driveGearRatios.SDSMK4i_L3);
+                .SDSMK4i(COTSFalconSwerveConstants.driveGearRatios.SDSMK4i_L3_PLUS);
 
         /* Drivetrain Constants */
         public static final double TRACK_WIDTH = Units.inchesToMeters(18.375);
@@ -224,8 +224,8 @@ public static final class Swerve {
 
         /* Swerve Profiling Values */
         /** Meters per Second */
-        public static final double MAX_SPEED = 4.1;
-        public static final double MAX_ACCEL = 4.1;
+        public static final double MAX_SPEED = 5.5;
+        public static final double MAX_ACCEL = 5.5;
 
         /** Radians per Second */
         public static final double MAX_ANGULAR_VELOCITY = 10.0;