Gear Ratio Update

[ShmayaR]

Summary by CodeRabbit

• Bug Fixes
  • Improved arm motion accuracy and simulation by adjusting arm gearing.
  • Smoother elevator movement and simulation with corrected elevator gearing.
  • Enhanced end effector responsiveness and feedback after gear ratio update.
  • More precise intake angle positioning and improved limit handling via intake gearing adjustment.

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📥 Commits

Reviewing files that changed from the base of the PR and between 31aa307 and 3098be2.

📒 Files selected for processing (3)

• src/main/java/frc/trigon/robot/subsystems/armelevator/ArmElevatorConstants.java (1 hunks)
• src/main/java/frc/trigon/robot/subsystems/endeffector/EndEffectorConstants.java (1 hunks)
• src/main/java/frc/trigon/robot/subsystems/intake/IntakeConstants.java (1 hunks)

Walkthrough

Updated numeric gear-ratio constants in three subsystems: ArmElevator (ARM_GEAR_RATIO 40→42, ELEVATOR_GEAR_RATIO 4→3), EndEffector (END_EFFECTOR_GEAR_RATIO 17→12.82), and Intake (ANGLE_MOTOR_GEAR_RATIO 28→40). No control-flow, API, or structural changes.

Changes

Cohort / File(s)	Summary of Changes
Gear ratio constant updates src/main/java/frc/trigon/robot/subsystems/armelevator/ArmElevatorConstants.java, src/main/java/frc/trigon/robot/subsystems/endeffector/EndEffectorConstants.java, src/main/java/frc/trigon/robot/subsystems/intake/IntakeConstants.java	Numeric updates to gear ratios used in configuration and simulation: ARM_GEAR_RATIO 40→42; ELEVATOR_GEAR_RATIO 4→3; END_EFFECTOR_GEAR_RATIO 17→12.82; ANGLE_MOTOR_GEAR_RATIO 28→40. No other logic or API changes.

Estimated code review effort

🎯 2 (Simple) | ⏱️ ~10 minutes

Possibly related PRs

• Climb Commands #20 — Edits to ArmElevator-related constants/enum in the same subsystem; likely related configuration adjustments.

Poem

I tweak my gears with whisker’d care,
Click and spin — ratios in the air,
Arm and elevator, gripper too,
Numbers nudged from old to new,
(\_/) — a rabbit hums, systems true. 🥕

Pre-merge checks and finishing touches

✅ Passed checks (3 passed)

Check name	Status	Explanation
Description Check	✅ Passed	Check skipped - CodeRabbit’s high-level summary is enabled.
Title Check	✅ Passed	The title “Gear Ratio Update” succinctly and accurately describes the primary purpose of this pull request, which is to adjust various gear ratio constants across multiple subsystems.
Docstring Coverage	✅ Passed	No functions found in the changes. Docstring coverage check skipped.

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Actionable comments posted: 1

📜 Review details

Configuration used: CodeRabbit UI

Review profile: CHILL

Plan: Pro

📥 Commits

Reviewing files that changed from the base of the PR and between 65daf99 and ff89d80.

📒 Files selected for processing (3)

• src/main/java/frc/trigon/robot/subsystems/armelevator/ArmElevatorConstants.java (1 hunks)
• src/main/java/frc/trigon/robot/subsystems/endeffector/EndEffectorConstants.java (1 hunks)
• src/main/java/frc/trigon/robot/subsystems/intake/IntakeConstants.java (1 hunks)

[coderabbitai]

⚠️ Potential issue | 🔴 Critical

Update gravity feedforward after gear ratio change.

Switching the angle motor reduction from 28:1 to 40:1 increases mechanical leverage, so the existing config.Slot0.kG (0.32151 real / 0.35427 sim) is now ~40% too large. On the real robot this constant is the only non-zero loop gain, so it will overdrive the wrist upward and fight the limit switches. Please re-identify the wrist feedforward gains (at minimum scale kG by 28/40 ≈ 0.7, plus rerun SysId for the sim gains) so they match the new reduction before merging. (api.ctr-electronics.com)

Apply this diff as a first-order fix, then re-tune to measured values:

-        config.Slot0.kG = RobotHardwareStats.isSimulation() ? 0.35427 : 0.32151;
+        config.Slot0.kG = RobotHardwareStats.isSimulation() ? 0.248 : 0.225;

📝 Committable suggestion

‼️ IMPORTANT
Carefully review the code before committing. Ensure that it accurately replaces the highlighted code, contains no missing lines, and has no issues with indentation. Thoroughly test & benchmark the code to ensure it meets the requirements.

Suggested change

	INTAKE_MOTOR_GEAR_RATIO = 4,
	ANGLE_MOTOR_GEAR_RATIO = 28;
	ANGLE_MOTOR_GEAR_RATIO = 40;
	static final boolean FOC_ENABLED = true;
	// Scale kG by 28/40≈0.7 after changing the gear ratio from 28:1→40:1
	config.Slot0.kG = RobotHardwareStats.isSimulation() ? 0.248 : 0.225;