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lots of weird turret limit shtuff, NOT COMPLETE

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Ryan Manley
2022-03-16 21:18:10 -06:00
parent 2f23aed7f1
commit 411e06211c
6 changed files with 80 additions and 27 deletions
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src/main/java/frc4388/robot/Constants.java
+9 -2
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@@ -207,8 +207,15 @@ public final class Constants {
public static final double SHOOTER_TURRET_MIN = -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);
public static final double TURRET_FORWARD_LIMIT = 0.0;
public static final double TURRET_REVERSE_LIMIT = -95.0; //Find
//#region test start
//#endregion test end
public static final double TURRET_FORWARD_HARD_LIMIT = 0.0;
public static final double TURRET_REVERSE_HARD_LIMIT = -85.0;
public static final double TURRET_FORWARD_SOFT_LIMIT = TURRET_FORWARD_HARD_LIMIT - 2;
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);