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

sum chang

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files
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);
}
}