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turret soft + hard limits + zero WORKS

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aarav18
2022-03-17 11:54:05 -06:00
parent fc3a61f75c
commit 25426d7f33
3 changed files with 28 additions and 8 deletions
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src/main/java/frc4388/robot/Constants.java
+5 -5
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@@ -204,18 +204,18 @@ public final class Constants {
// ID
public static final int TURRET_MOTOR_CAN_ID = 19;
//Gains for turret
public static final Gains SHOOTER_TURRET_GAINS = new Gains(0.1, 0.0, 0.1, 0.0, 0, TURRET_SPEED_MULTIPLIER);
public static final double SHOOTER_TURRET_MIN = -TURRET_SPEED_MULTIPLIER;
public static final Gains SHOOTER_TURRET_GAINS = new Gains(0.1, 0.0, 0.1, 0.0, 0, 0.3/*TURRET_SPEED_MULTIPLIER*/);
public static final double SHOOTER_TURRET_MIN = -0.3;//-TURRET_SPEED_MULTIPLIER;
//Gains for hood
public static final Gains SHOOTER_ANGLE_GAINS = new Gains(0.1, 0.0, 0.0, 0.0, 0, 0.7);
//#region test start
//#endregion test end
public static final double TURRET_FORWARD_HARD_LIMIT = 18.4;
public static final double TURRET_REVERSE_HARD_LIMIT = -104.3;
public static final double TURRET_FORWARD_HARD_LIMIT = 18.429;
public static final double TURRET_REVERSE_HARD_LIMIT = -106.454;
public static final double TURRET_FORWARD_SOFT_LIMIT = TURRET_FORWARD_HARD_LIMIT - 2;
public static final double TURRET_FORWARD_SOFT_LIMIT = TURRET_FORWARD_HARD_LIMIT - 4;
public static final double TURRET_REVERSE_SOFT_LIMIT = TURRET_REVERSE_HARD_LIMIT + 2;
//Shooter gains for actual Drum
public static final Gains DRUM_SHOOTER_GAINS = new Gains(0.4, 0.0, 15.0, 0.05, 0, 0);