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Turret WIP

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neil92150
2022-01-21 20:56:25 -07:00
parent 445cce2ca6
commit 2b49f8ed8d
4 changed files with 38 additions and 11 deletions
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src/main/java/frc4388/robot/Constants.java
+19 -2
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@@ -88,12 +88,29 @@ public final class Constants {
public static final int SHOOTER_SLOT_IDX = 0;
public static final int SHOOTER_PID_LOOP_IDX = 1;
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;
/* Turret Constants */
//ID
public static final int TURRET_MOTOR_CAN_ID = 0;
public static final Gains SHOOTER_TURRET_GAINS = new Gains(0.6, 0.0, 0.0, 0.0, 0, 1.0);
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 double ENCODER_TRICKS_PER_REV = 0;
public static final double NEO_UNITS_PER_REV = 0;
public static final double DEGREES_PER_ROT = 0;
public static final SupplyCurrentLimitConfiguration SUPPLY_CURRENT_LIMIT_CONFIG = new SupplyCurrentLimitConfiguration(ture,0,0,0);
public static final int TURRET_RIGHT_SOFT_LIMIT = 0;
public static final int TURRET_LEFT_SOFT_LIMIT = 0;
public static final double TURRET_SPEED_MULTIPLIER = 0.3;
public static final double TURRET_CALIBRATE_SPEED = 0.075;
public static final double TURRET_MOTOR_ROTS_PER_ROT = 1;
public static final double TURRET_MOTOR_POS_AT_ZERO_ROT = 0;
/* Turret Constants */
//ID
}
}