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drum pid + tentative shooting values + get voltage

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Ryan Manley
2022-03-13 17:02:55 -06:00
parent 362fb579a9
commit 68c69d7262
9 changed files with 55 additions and 26 deletions
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src/main/java/frc4388/robot/Constants.java
+9 -7
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@@ -32,7 +32,7 @@ import frc4388.utility.LEDPatterns;
*/
public final class Constants {
public static final class SwerveDriveConstants {
public static final double ROTATION_SPEED = 4.0;
public static final double ROTATION_SPEED = 2.0;
public static final double WIDTH = 23.5;
public static final double HEIGHT = 23.5;
public static final double JOYSTICK_TO_METERS_PER_SECOND_FAST = 11;
@@ -183,7 +183,7 @@ public final class Constants {
true, 27, 0, 0);
public static final int SHOOTER_FALCON_LEFT_CAN_ID = 21;
public static final int SHOOTER_FALCON_RIGHT_CAN_ID = 22;
public static final double TURRET_SPEED_MULTIPLIER = 0.75d;
public static final double TURRET_SPEED_MULTIPLIER = 0.4d;
public static final int DEGREES_PER_ROT = 0;
public static final int TURRET_MOTOR_POS_AT_ZERO_ROT = 0;
public static final int TURRET_MOTOR_ROTS_PER_ROT = 0;
@@ -195,19 +195,21 @@ public final class Constants {
/* Turret Constants */
// ID
public static final int TURRET_MOTOR_CAN_ID = 19;
//Gains for turret
public static final Gains SHOOTER_TURRET_GAINS = new Gains(0.6, 0.0, 0.0, 0.0, 0, 1.0);
//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 SHOOTER_TURRET_MIN = -1.0;
public static final double TURRET_FORWARD_LIMIT = 17.0;
public static final double TURRET_REVERSE_LIMIT = -105.0;
public static final Gains DRUM_SHOOTER_GAINS = new Gains(0, 0, 0, 0, 0, 0); // TODO: tune values
public static final double TURRET_FORWARD_LIMIT = 17.0; // TODO: find
public static final double TURRET_REVERSE_LIMIT = -105.0; // TODO: find
//Shooter gains for actual Drum
public static final Gains DRUM_SHOOTER_GAINS = new Gains(0.4, 0.0, 15.0, 0.05, 0, 0); // TODO: tune values
/* Hood Constants */
public static final int SHOOTER_ANGLE_ADJUST_ID = 20;
public static final double HOOD_MOTOR_ROTS_PER_ROT = 1; // TODO: Find
public static final double HOOD_MOTOR_POS_AT_ZERO_ROT = 0; // TODO: Find
public static final double HOOD_FORWARD_LIMIT = -0.0; // TODO: find
public static final double HOOD_FORWARD_LIMIT = 0.0; // TODO: find
public static final double HOOD_REVERSE_LIMIT = -150; // TODO: find
}