swerve improvement checklist #2
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…ed most states, and combined the state and superstructure files
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| private static final int ROLLER_MOTOR_ID = 20; | ||
| private static final int ARM_MOTOR_ID = 19; | ||
| private static final int INDEXER_MOTOR_ID = 17; | ||
| private static final double ROLLER_GEAR_RATIO = 3.0; | ||
| private static final double ARM_GEAR_RATIO = 1; // 248/9 | ||
| private static final double INDEXER_GEAR_RATIO = 3.0; |
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The real intake IO uses ARM_GEAR_RATIO = 1 even though the comment notes a 248/9 reduction, so MotionMagic targets and telemetry are scaled as if the arm were directly coupled. Commands such as deployArm()/stowArm() therefore request ~28× less motor rotation than the mechanism requires, meaning the arm will never reach the intended angles and atGoal() will remain false on the real robot.
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