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some changes to make it build

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aarav18
2022-03-05 17:56:04 -07:00
parent 8e0f1dcdb3
commit 5f88e68622
1 changed files with 8 additions and 8 deletions
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src/main/java/frc4388/robot/subsystems/Climber.java
+8 -8
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@@ -177,17 +177,17 @@ public class Climber extends SubsystemBase {
public void setClimberGains() {
// shoulder PIDs
m_shoulder.selectProfileSlot(ClimberConstants.SHOULDER_SLOT_IDX, ClimberConstants.SHOULDER_PID_LOOP_IDX);
m_shoulder.config_kF(ClimberConstants.SHOULDER_SLOT_IDX, ClimberConstants.SHOULDER_GAINS.m_kF, ClimberConstants.CLIMBER_TIMEOUT_MS);
m_shoulder.config_kP(ClimberConstants.SHOULDER_SLOT_IDX, ClimberConstants.SHOULDER_GAINS.m_kP, ClimberConstants.CLIMBER_TIMEOUT_MS);
m_shoulder.config_kI(ClimberConstants.SHOULDER_SLOT_IDX, ClimberConstants.SHOULDER_GAINS.m_kI, ClimberConstants.CLIMBER_TIMEOUT_MS);
m_shoulder.config_kD(ClimberConstants.SHOULDER_SLOT_IDX, ClimberConstants.SHOULDER_GAINS.m_kD, ClimberConstants.CLIMBER_TIMEOUT_MS);
m_shoulder.config_kF(ClimberConstants.SHOULDER_SLOT_IDX, ClimberConstants.SHOULDER_GAINS.kF, ClimberConstants.CLIMBER_TIMEOUT_MS);
m_shoulder.config_kP(ClimberConstants.SHOULDER_SLOT_IDX, ClimberConstants.SHOULDER_GAINS.kP, ClimberConstants.CLIMBER_TIMEOUT_MS);
m_shoulder.config_kI(ClimberConstants.SHOULDER_SLOT_IDX, ClimberConstants.SHOULDER_GAINS.kI, ClimberConstants.CLIMBER_TIMEOUT_MS);
m_shoulder.config_kD(ClimberConstants.SHOULDER_SLOT_IDX, ClimberConstants.SHOULDER_GAINS.kD, ClimberConstants.CLIMBER_TIMEOUT_MS);
// elbow PIDs
m_elbow.selectProfileSlot(ClimberConstants.ELBOW_SLOT_IDX, ClimberConstants.ELBOW_PID_LOOP_IDX);
m_elbow.config_kF(ClimberConstants.ELBOW_SLOT_IDX, ClimberConstants.ELBOW_GAINS.m_kF, ClimberConstants.CLIMBER_TIMEOUT_MS);
m_elbow.config_kP(ClimberConstants.ELBOW_SLOT_IDX, ClimberConstants.ELBOW_GAINS.m_kP, ClimberConstants.CLIMBER_TIMEOUT_MS);
m_elbow.config_kI(ClimberConstants.ELBOW_SLOT_IDX, ClimberConstants.ELBOW_GAINS.m_kI, ClimberConstants.CLIMBER_TIMEOUT_MS);
m_elbow.config_kD(ClimberConstants.ELBOW_SLOT_IDX, ClimberConstants.ELBOW_GAINS.m_kD, ClimberConstants.CLIMBER_TIMEOUT_MS);
m_elbow.config_kF(ClimberConstants.ELBOW_SLOT_IDX, ClimberConstants.ELBOW_GAINS.kF, ClimberConstants.CLIMBER_TIMEOUT_MS);
m_elbow.config_kP(ClimberConstants.ELBOW_SLOT_IDX, ClimberConstants.ELBOW_GAINS.kP, ClimberConstants.CLIMBER_TIMEOUT_MS);
m_elbow.config_kI(ClimberConstants.ELBOW_SLOT_IDX, ClimberConstants.ELBOW_GAINS.kI, ClimberConstants.CLIMBER_TIMEOUT_MS);
m_elbow.config_kD(ClimberConstants.ELBOW_SLOT_IDX, ClimberConstants.ELBOW_GAINS.kD, ClimberConstants.CLIMBER_TIMEOUT_MS);
}
public void setJointAngles(double[] angles) {