Add comment on configuring gear ratio

CrossTheRoadElec · Jun 6, 2024 · b732e2d · b732e2d
1 parent c10ee98
commit b732e2d
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Showing 3 changed files with 9 additions and 6 deletions.
diff --git a/cpp/MotionMagic/src/main/cpp/Robot.cpp b/cpp/MotionMagic/src/main/cpp/Robot.cpp
@@ -19,12 +19,13 @@ void Robot::SimulationPeriodic() {
 void Robot::RobotInit() {
   configs::TalonFXConfiguration cfg{};
 
+  /* Configure gear ratio */
   configs::FeedbackConfigs &fdb = cfg.Feedback;
-  fdb.SensorToMechanismRatio = 12.8;
+  fdb.SensorToMechanismRatio = 12.8; // 12.8 rotor rotations per mechanism rotation
 
   /* Configure Motion Magic */
   configs::MotionMagicConfigs &mm = cfg.MotionMagic;
-  mm.MotionMagicCruiseVelocity = 5; // 5 rotations per second cruise
+  mm.MotionMagicCruiseVelocity = 5; // 5 (mechanism) rotations per second cruise
   mm.MotionMagicAcceleration = 10; // Take approximately 0.5 seconds to reach max vel
   // Take approximately 0.1 seconds to reach max accel 
   mm.MotionMagicJerk = 100;

diff --git a/java/MotionMagic/src/main/java/frc/robot/Robot.java b/java/MotionMagic/src/main/java/frc/robot/Robot.java
@@ -49,12 +49,13 @@ public void simulationPeriodic() {
   public void robotInit() {
     TalonFXConfiguration cfg = new TalonFXConfiguration();
 
+    /* Configure gear ratio */
     FeedbackConfigs fdb = cfg.Feedback;
-    fdb.SensorToMechanismRatio = 12.8;
+    fdb.SensorToMechanismRatio = 12.8; // 12.8 rotor rotations per mechanism rotation
 
     /* Configure Motion Magic */
     MotionMagicConfigs mm = cfg.MotionMagic;
-    mm.MotionMagicCruiseVelocity = 5; // 5 rotations per second cruise
+    mm.MotionMagicCruiseVelocity = 5; // 5 (mechanism) rotations per second cruise
     mm.MotionMagicAcceleration = 10; // Take approximately 0.5 seconds to reach max vel
     // Take approximately 0.1 seconds to reach max accel 
     mm.MotionMagicJerk = 100;

diff --git a/python/MotionMagic/robot.py b/python/MotionMagic/robot.py
@@ -23,12 +23,13 @@ def robotInit(self):
 
         cfg = configs.TalonFXConfiguration()
 
+        # Configure gear ratio
         fdb = cfg.feedback
-        fdb.sensor_to_mechanism_ratio = 12.8
+        fdb.sensor_to_mechanism_ratio = 12.8 # 12.8 rotor rotations per mechanism rotation
 
         # Configure Motion Magic
         mm = cfg.motion_magic
-        mm.motion_magic_cruise_velocity = 5 # 5 rotations per second cruise
+        mm.motion_magic_cruise_velocity = 5 # 5 (mechanism) rotations per second cruise
         mm.motion_magic_acceleration = 10 # Take approximately 0.5 seconds to reach max vel
         # Take apprximately 0.1 seconds to reach max accel
         mm.motion_magic_jerk = 100