gear ratios

Author: Craftzman7

src/main/kotlin/com/frcteam3636/bunnybots2025/subsystems/intake/IntakeIO.kt

@@ -142,8 +142,8 @@ class IntakeIOReal : IntakeIO {
         val PROFILE_ACCELERATION = 0.0.degreesPerSecondPerSecond
         const val PROFILE_JERK = 0.0
         const val ENCODER_MAGNET_OFFSET = 0.0
-        const val ENCODER_TO_PIVOT_GEAR_RATIO = 0.0
-        const val MOTOR_TO_ENCODER_GEAR_RATIO = 0.0
+        const val ENCODER_TO_PIVOT_GEAR_RATIO = 2.25
+        const val MOTOR_TO_ENCODER_GEAR_RATIO = 4.0
     }
 }
 
@@ -181,4 +181,4 @@ class IntakeIOSim : IntakeIO {
         goal = TrapezoidProfile.State(pivotPosition.inRotations(), 0.0)
         profileTimer.reset()
     }
-}
+}

src/main/kotlin/com/frcteam3636/bunnybots2025/subsystems/shooter/PivotIO.kt

@@ -131,8 +131,8 @@ class PivotIOReal : PivotIO {
 
     companion object Constants {
         private val PID_GAINS = PIDGains(6.0, 0.0, 0.0)
-        private const val SENSOR_TO_MECHANISM_GEAR_RATIO = 0.0
-        private const val ROTOR_TO_SENSOR_GEAR_RATIO = 0.0
+        private const val SENSOR_TO_MECHANISM_GEAR_RATIO = 37.25
+        private const val ROTOR_TO_SENSOR_GEAR_RATIO = 1.0
         private const val MAGNET_OFFSET = 0.0
         private val HARDSTOP_OFFSET = 12.degrees.inRotations()
         val PROFILE_ACCELERATION = 5.0.degreesPerSecondPerSecond