Team4388/2019-Hit-or-Miss
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Constants Adjustments

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lukesta182
2019-03-09 14:23:23 -07:00
parent 9d67018d89
commit 2a3e42aeff
2 changed files with 5 additions and 5 deletions
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2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Arm.java
+4 -4
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@@ -52,7 +52,7 @@ public class Arm extends Subsystem implements ControlLoopable
public static final double ZERO_POSITION_INCHES = -0.25;
public static final double NEAR_ZERO_POSITION_INCHES = 0.0;
public static final double MIN_POSITION_INCHES = 0.0;
public static final double MAX_POSITION_INCHES = 4096;
public static final double MAX_POSITION_INCHES = 3900;
public static final double AFTER_INTAKE_POSITION_INCHES = 4.0;
public static final double SWITCH_POSITION_INCHES = 24.0;
@@ -87,11 +87,11 @@ public class Arm extends Subsystem implements ControlLoopable
public static final double KF_UP = 0.01;
public static final double KF_DOWN = 0.0;
public static final double P_Value = 2;
public static final double I_Value = 0.00300;
public static final double I_Value = 0.00030;
public static final double D_Value = 200;
public static final double RampRate = 0.0;
private PIDParams armPIDParams = new PIDParams(P_Value, I_Value, D_Value, KF_DOWN); // KF gets updated later
public static final double PID_ERROR_INCHES = 5.0;
public static final double PID_ERROR_INCHES = 5;
LimitSwitchSource limitSwitchSource;
// Pneumatics
private Solenoid speedShift;
@@ -175,7 +175,7 @@ public class Arm extends Subsystem implements ControlLoopable
double startPositionInches = motor1.getPositionWorld();
//mpController.setTarget(targetPositionInchesPID, targetPositionInchesPID > startPositionInches ? KF_UP : KF_DOWN);
motor1.set(ControlMode.Position, targetPositionInches);
motor1.configClosedloopRamp(.02);
motor1.configClosedloopRamp(0);
//motor1.configPeakCurrentLimit(5);
motor1.configContinuousCurrentLimit(2);
motor1.config_kP(0, P_Value, TalonSRXEncoder.TIMEOUT_MS);
2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Wrist.java
+1 -1
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@@ -85,7 +85,7 @@ public class Wrist extends Subsystem implements ControlLoopable
private PIDParams pidPIDParamsHiGear = new PIDParams(0.075, 0.0, 0.0, 0.0, 0.0, 0.0);
public static final double KF_UP = 0.01;
public static final double KF_DOWN = 0.0;
public static final double P_Value = 2;
public static final double P_Value = .5;
public static final double I_Value = 0.00300;
public static final double D_Value = 200;
public static final double RampRate = 0.0;