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This commit is contained in:
aarav18
2022-03-17 12:43:54 -06:00
parent 25426d7f33
commit 8212c2c70a
2 changed files with 6 additions and 7 deletions
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src/main/java/frc4388/robot/Constants.java
+3 -4
View File
@@ -209,14 +209,13 @@ public final class Constants {
//Gains for hood
public static final Gains SHOOTER_ANGLE_GAINS = new Gains(0.1, 0.0, 0.0, 0.0, 0, 0.7);
//#region test start
//#endregion test end
public static final double TURRET_FORWARD_HARD_LIMIT = 18.429;
public static final double TURRET_REVERSE_HARD_LIMIT = -106.454;
public static final double TURRET_FORWARD_SOFT_LIMIT = TURRET_FORWARD_HARD_LIMIT - 4;
public static final double TURRET_FORWARD_SOFT_LIMIT = TURRET_FORWARD_HARD_LIMIT - 5;
public static final double TURRET_REVERSE_SOFT_LIMIT = TURRET_REVERSE_HARD_LIMIT + 2;
public static final double TURRET_HARD_LIMIT_TOLERANCE = 20.0;
//Shooter gains for actual Drum
public static final Gains DRUM_SHOOTER_GAINS = new Gains(0.4, 0.0, 15.0, 0.05, 0, 0);
src/main/java/frc4388/robot/subsystems/Turret.java
+3 -3
View File
@@ -146,16 +146,16 @@ public class Turret extends SubsystemBase {
leftPrevState = leftState; // * Update the state of the left limit switch.
// speed limiting near hard limits
// * speed limiting near hard limits. tolerance (distance when ramping starts) is 20 rotations. speed at hard limits is 0.2 (percent output).
double currentPos = this.getEncoderPosition();
double forwardDistance = Math.abs(currentPos - ShooterConstants.TURRET_FORWARD_SOFT_LIMIT);
double reverseDistance = Math.abs(currentPos - ShooterConstants.TURRET_REVERSE_SOFT_LIMIT);
if (forwardDistance < 20.0) {
if (forwardDistance < ShooterConstants.TURRET_HARD_LIMIT_TOLERANCE) {
this.speedLimiter = 0.2 + (forwardDistance * 0.05);
}
if (reverseDistance < 20.0) {
if (reverseDistance < ShooterConstants.TURRET_HARD_LIMIT_TOLERANCE) {
this.speedLimiter = 0.2 + (reverseDistance * 0.05);
}
}