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merge fix

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66945
2022-03-18 18:26:10 -06:00
parent bc95d7a0b8
commit 810538ba39
2 changed files with 111 additions and 52 deletions
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src/main/java/frc4388/robot/Constants.java
+9 -4
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@@ -202,14 +202,19 @@ public final class Constants {
public static final double ELBOW_REVERSE_SOFT_LIMIT = 0;
// PID Constants
public static final int SHOULDER_SLOT_IDX = 0;
public static final int SHOULDER_POSITION_SLOT_IDX = 0;
public static final int SHOULDER_VELOCITY_SLOT_IDX = 1;
public static final int SHOULDER_PID_LOOP_IDX = 1;
public static final int ELBOW_SLOT_IDX = 0;
public static final int ELBOW_POSITION_SLOT_IDX = 0;
public static final int ELBOW_VELOCITY_SLOT_IDX = 1;
public static final int ELBOW_PID_LOOP_IDX = 1;
public static final Gains SHOULDER_GAINS = new Gains(0.5, 0.0, 0.0, 0.0, 0, 0.2);
public static final Gains ELBOW_GAINS = new Gains(0.5, 1.0, 20.0, 0.0, 0, 1.0); //Prev P 1 d 0.4
public static final Gains SHOULDER_POSITION_GAINS = new Gains(1.0, 0.0, 0.1, 0.0, 0, 0.2);
public static final Gains ELBOW_POSITION_GAINS = new Gains(1.0, 0.0, 0.1, 0.0, 0, 0.2);
public static final Gains SHOULDER_VELOCITY_GAINS = new Gains(1.0, 0.0, 0.1, 0.0, 0, 0.2);
public static final Gains ELBOW_VELOCITY_GAINS = new Gains(1.0, 0.0, 0.1, 0.0, 0, 0.2);
public static final int CLIMBER_TIMEOUT_MS = 50;