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worked on turret

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Pushkar9236
2022-01-24 19:55:08 -07:00
parent 982c81ffbe
commit 1d804903d8
3 changed files with 91 additions and 8 deletions
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src/main/java/frc4388/robot/Constants.java
+11 -5
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@@ -94,8 +94,14 @@ public final class Constants {
public static final SupplyCurrentLimitConfiguration SUPPLY_CURRENT_LIMIT_CONFIG = new SupplyCurrentLimitConfiguration(true, 60, 40, 0.5);
public static final int SHOOTER_FALCON_LEFT_CAN_ID = 0;
public static final int SHOOTER_FALCON_RIGHT_CAN_ID = 0;
public static final int SHOOTER_ROTATE_ID = "unknown value" //figure out later
public static final int SHOOTER_TURRET_GAINS = "'" //""//
public static final int SHOOTER_ROTATE_ID = 0; //"unknown value" //figure out later
public static final int TURRET_RIGHT_SOFT_LIMIT = 0; //""//
public static final int TURRET_SPEED_MULTIPLIER = 0; //""//
public static final int DEGREES_PER_ROT = 0; //""//
public static final int TURRET_MOTOR_POS_AT_ZERO_ROT = 0; //""//
public static final int TURRET_MOTOR_ROTS_PER_ROT = 0; //""//
}
/* Turret Constants */
//ID
@@ -104,10 +110,10 @@ public final class Constants {
public static final Gains SHOOTER_ANGLE_GAINS = new Gains(0.05, 0.0, 0.0, 0.0, 0, 0.3);
public static final double SHOOTER_TURRET_MIN = -1.0;
public static final int SHOOTER_FALCON_BALLER_ID =; //unknown value, fix later//
public static final int SHOOTER_FALCON_BALLER_FOLLOWER_ID =; //"//
public static final int SHOOTER_FALCON_BALLER_ID = 0; //unknown value, fix later//
public static final int SHOOTER_FALCON_BALLER_FOLLOWER_ID = 0; //"//
public static final Gains DRUM_SHOOTER_GAINS = new Gains(x,y,z,a,b);//x,y,z,a,b are not actual values, fix later
public static final Gains DRUM_SHOOTER_GAINS = new Gains(0,0,0,0,0);//x,y,z,a,b are not actual values, fix later
/* Hood Constants */
public static final int SHOOTER_ANGLE_ADJUST_ID = 10;
public static final double HOOD_MOTOR_ROTS_PER_ROT = 1; //TODO: Find