Team4388/2022NoWayHome
1
0
Fork 0
mirror of https://github.com/Team4388/2022NoWayHome.git synced 2026-06-09 00:38:05 -06:00
Code Issues Packages Projects Releases Wiki Activity

Controls and IDs

Browse Source
This commit is contained in:
ryan123rudder
2022-03-06 00:48:38 -07:00
parent 74fa148c08
commit 7cadbf5025
3 changed files with 42 additions and 56 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/main/java/frc4388/robot/Constants.java
+9 -10
View File
@@ -123,17 +123,17 @@ public final class Constants {
public static final double SERIALIZER_BELT_SPEED = 0.1d;
// CAN IDs
public static final int SERIALIZER_BELT = 16;
public static final int SERIALIZER_BELT = 17;
public static final int SERIALIZER_BELT_BEAM = 27; // TODO
}
public static final class IntakeConstants {
// CAN IDs
public static final int INTAKE_MOTOR = 14;
public static final int EXTENDER_MOTOR = 15;
public static final int INTAKE_MOTOR = 15;
public static final int EXTENDER_MOTOR = 16;
}
public static final class StorageConstants {
public static final int STORAGE_CAN_ID = 17;
public static final int STORAGE_CAN_ID = 18;
public static final int BEAM_SENSOR_SHOOTER = 28; //TODO
public static final int BEAM_SENSOR_INTAKE = 29; //TODO
public static final double STORAGE_SPEED = 0.3;
@@ -163,9 +163,8 @@ public final class Constants {
public static final int SHOOTER_PID_LOOP_IDX = 1;
public static final SupplyCurrentLimitConfiguration SUPPLY_CURRENT_LIMIT_CONFIG = new SupplyCurrentLimitConfiguration(
true, 60, 40, 0.5);
public static final int SHOOTER_FALCON_LEFT_CAN_ID = 23;
public static final int SHOOTER_FALCON_RIGHT_CAN_ID = 24;
public static final int SHOOTER_ROTATE_ID = 31; // TODO: find this value
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 = 0.1d;
public static final int DEGREES_PER_ROT = 0;
public static final int TURRET_MOTOR_POS_AT_ZERO_ROT = 0;
@@ -177,11 +176,11 @@ public final class Constants {
/* Turret Constants */
// ID
public static final int TURRET_MOTOR_CAN_ID = 30;
public static final int TURRET_MOTOR_CAN_ID = 19;
public static final Gains SHOOTER_TURRET_GAINS = new Gains(0.6, 0.0, 0.0, 0.0, 0, 1.0);
public static final Gains SHOOTER_ANGLE_GAINS = new Gains(0.05, 0.0, 0.0, 0.0, 0, 0.3);
public static final double SHOOTER_TURRET_MIN = -1.0;
public static final float TURRET_FORWARD_LIMIT = 0; // TODO: find
public static final float TURRET_FORWARD_LIMIT = 50; // TODO: find
public static final float TURRET_REVERSE_LIMIT = 0; // TODO: find
// deadzones
@@ -197,7 +196,7 @@ public final class Constants {
public static final Gains DRUM_SHOOTER_GAINS = new Gains(0, 0, 0, 0, 0, 0); // TODO: tune values
/* Hood Constants */
public static final int SHOOTER_ANGLE_ADJUST_ID = 32;
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 float HOOD_FORWARD_LIMIT = 0; // TODO: find