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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/RobotMap.java
+3 -1
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@@ -6,6 +6,7 @@ package frc4388.robot;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
import com.ctre.phoenix.sensors.CANCoder;
import com.ctre.phoenix.sensors.WPI_PigeonIMU;
import edu.wpi.first.wpilibj.motorcontrol.Spark;
import frc4388.robot.Constants.ClimberConstants;
@@ -94,6 +95,7 @@ public class RobotMap {
}
/* Climb Subsystem */
public final WPI_TalonFX shoulder = new WPI_TalonFX(ClimberConstants.SHOLDER_ID); // TODO
public final WPI_TalonFX shoulder = new WPI_TalonFX(ClimberConstants.SHOULDER_ID); // TODO
public final WPI_TalonFX elbow = new WPI_TalonFX(ClimberConstants.ELBOW_ID); // TODO
public final WPI_PigeonIMU gyro = new WPI_PigeonIMU(ClimberConstants.GYRO_ID); // TODO
}