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flywheel adjustments

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This commit is contained in:
Arkm20
2026-03-19 09:40:45 -05:00
parent 4df0ef79aa
commit d9e6b12cca
2 changed files with 13 additions and 13 deletions
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12
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystems/Turret.java
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@@ -481,7 +481,7 @@ public class Turret {
} }
if (dist > 145.0) { if (dist > 145.0) {
return 2400.0; return 2300.0;
} }
double x = dist; double x = dist;
@@ -489,11 +489,11 @@ public class Turret {
double x3 = x2 * x; double x3 = x2 * x;
double x4 = x3 * x; double x4 = x3 * x;
double velocity = (-0.00000898301 * x4) double velocity = (-0.0000218345 * x4)
+ (0.00302546 * x3) + (0.00636447 * x3)
+ (-0.300962 * x2) + (-0.593959 * x2)
+ (16.04247 * x) + (26.08276 * x)
+ 1327.9972; + 1218.12895;
return Range.clip(velocity, 1300.0, 2450.0); return Range.clip(velocity, 1300.0, 2450.0);
} }

14
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tuning/flywheelTuning.java
View File

@@ -257,7 +257,7 @@ public class flywheelTuning extends OpMode {
} }
if (dist > 145.0) { if (dist > 145.0) {
return 2400.0; return 2300.0;
} }
double x = dist; double x = dist;
@@ -265,13 +265,13 @@ public class flywheelTuning extends OpMode {
double x3 = x2 * x; double x3 = x2 * x;
double x4 = x3 * x; double x4 = x3 * x;
double velocity = (-0.00000898301 * x4) double velocity = (-0.0000218345 * x4)
+ (0.00302546 * x3) + (0.00636447 * x3)
+ (-0.300962 * x2) + (-0.593959 * x2)
+ (16.04247 * x) + (26.08276 * x)
+ 1327.9972; + 1218.12895;
return Range.clip(velocity, 1300.0, 2450.0); return Range.clip(velocity, 1300.0, 2350.0);
} }
private double getHoodPOS(double dist) { private double getHoodPOS(double dist) {
if (dist < 20.0) { if (dist < 20.0) {