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Finish IK, accounting for robot tilt

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This commit is contained in:
66945
2022-01-18 20:00:03 -07:00
parent c344394938
commit 3567cfbeb0
3 changed files with 62 additions and 12 deletions
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src/main/java/frc4388/robot/Constants.java
+4
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@@ -77,10 +77,14 @@ public final class Constants {
/* TODO: Update motor IDS */
public static final int SHOULDER_ID = -1;
public static final int ELBOW_ID = -1;
public static final int GYRO_ID = -1;
// TODO Update this stuff too
public static final double UPPER_ARM_LENGTH = 50; // Units should be in cm
public static final double LOWER_ARM_LENGTH = 50;
public static final double MAX_ARM_LENGTH = LOWER_ARM_LENGTH + UPPER_ARM_LENGTH;
public static final double MIN_ARM_LENGTH = Math.abs(LOWER_ARM_LENGTH + UPPER_ARM_LENGTH);
}
/**
* The OIConstants class contains the ID for the XBox controllers