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Added Input control and PIDs

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Still need to configure PIDs
PIDs are currently set to max values.
Please do not run.
This commit is contained in:
dj12ha
2022-01-20 18:13:11 -07:00
parent 94a0af64d0
commit 7949205cc4
2 changed files with 43 additions and 2 deletions
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src/main/java/frc4388/robot/Constants.java
+12
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@@ -87,6 +87,18 @@ public final class Constants {
public static final double MIN_ARM_LENGTH = Math.abs(LOWER_ARM_LENGTH + UPPER_ARM_LENGTH);
public static final double MOVE_SPEED = 50; // cm per second
// PID Constants
public static final int SHOULDER_SLOT_IDX = 0;
public static final int SHOULDER_PID_LOOP_IDX = 1;
public static final int ELBOW_SLOT_IDX = 0;
public static final int ELBOW_PID_LOOP_IDX = 1;
public static final Gains SHOULDER_GAINS = new Gains(1.0, 1.0, 1.0, 1.0, 0, 1.0);
public static final Gains ELBOW_GAINS = new Gains(1.0, 1.0, 1.0, 1.0, 0, 1.0);
public static final int CLIMBER_TIMEOUT_MS = 100;
}
/**
* The OIConstants class contains the ID for the XBox controllers