Move WHEEL_RADIUS to Constants

modified: src/main/java/frc/robot/Constants.java modified: src/main/java/frc/robot/generated/TunerConstants.java modified: src/main/java/frc/robot/subsystems/drive/SwerveConstants.java
Coconuts2486-FRC · Feb 21, 2025 · a80197e · a80197e
1 parent bf8a6d4
commit a80197e
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Showing 3 changed files with 13 additions and 7 deletions.
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -127,6 +127,9 @@ public static final class PhysicalConstants {
 
     // Wheel coefficient of friction
     public static final double kWheelCOF = 1.2;
+
+    // Measured Wheel Radius
+    public static final Distance kWheelRadius = Inches.of(2.033);
   }
 
   /** Power Distribution Constants ********************************** */

diff --git a/src/main/java/frc/robot/generated/TunerConstants.java b/src/main/java/frc/robot/generated/TunerConstants.java
@@ -88,7 +88,7 @@ public class TunerConstants {
 
   private static final double kDriveGearRatio = 6.122448979591837;
   private static final double kSteerGearRatio = 21.428571428571427;
-  private static final Distance kWheelRadius = Inches.of(2);
+  private static final Distance kWheelRadius = Inches.of(2.522);
 
   private static final boolean kInvertLeftSide = false;
   private static final boolean kInvertRightSide = true;

diff --git a/src/main/java/frc/robot/subsystems/drive/SwerveConstants.java b/src/main/java/frc/robot/subsystems/drive/SwerveConstants.java
@@ -13,9 +13,12 @@
 
 package frc.robot.subsystems.drive;
 
+import static edu.wpi.first.units.Units.*;
+
 import com.ctre.phoenix6.CANBus;
 import edu.wpi.first.math.util.Units;
 import frc.robot.Constants;
+import frc.robot.Constants.PhysicalConstants;
 import frc.robot.generated.TunerConstants;
 import frc.robot.util.YagslConstants;
 
@@ -32,8 +35,8 @@ public class SwerveConstants {
   public static final double kCoupleRatio;
   public static final double kDriveGearRatio;
   public static final double kSteerGearRatio;
-  public static final double kWheelRadiusInches;
-  public static final double kWheelRadiusMeters;
+  public static final double kWheelRadiusInches = PhysicalConstants.kWheelRadius.in(Inches);
+  public static final double kWheelRadiusMeters = PhysicalConstants.kWheelRadius.in(Meters);
   public static final String kCANbusName;
   public static final int kPigeonId;
   public static final double kSteerInertia;
@@ -113,8 +116,8 @@ public class SwerveConstants {
         kCoupleRatio = TunerConstants.FrontLeft.CouplingGearRatio;
         kDriveGearRatio = TunerConstants.FrontLeft.DriveMotorGearRatio;
         kSteerGearRatio = TunerConstants.FrontLeft.SteerMotorGearRatio;
-        kWheelRadiusMeters = TunerConstants.FrontLeft.WheelRadius;
-        kWheelRadiusInches = Units.metersToInches(kWheelRadiusMeters);
+        // kWheelRadiusMeters = TunerConstants.FrontLeft.WheelRadius;
+        // kWheelRadiusInches = Units.metersToInches(kWheelRadiusMeters);
         kCANbusName = TunerConstants.DrivetrainConstants.CANBusName;
         kPigeonId = TunerConstants.DrivetrainConstants.Pigeon2Id;
         kSteerInertia = TunerConstants.FrontLeft.SteerInertia;
@@ -198,8 +201,8 @@ public class SwerveConstants {
         kCoupleRatio = YagslConstants.kCoupleRatio;
         kDriveGearRatio = YagslConstants.kDriveGearRatio;
         kSteerGearRatio = YagslConstants.kSteerGearRatio;
-        kWheelRadiusInches = YagslConstants.kWheelRadiusInches;
-        kWheelRadiusMeters = Units.inchesToMeters(kWheelRadiusInches);
+        // kWheelRadiusInches = YagslConstants.kWheelRadiusInches;
+        // kWheelRadiusMeters = Units.inchesToMeters(kWheelRadiusInches);
         kCANbusName = YagslConstants.kCANbusName;
         kPigeonId = YagslConstants.kPigeonId;
         kSteerInertia = YagslConstants.kSteerInertia;