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random changes bc im bored

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aarav18
2022-02-28 16:50:55 -07:00
parent fa15241483
commit a61ec76d47
2 changed files with 12 additions and 14 deletions
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src/main/java/frc4388/robot/Constants.java
+9 -9
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@@ -93,13 +93,13 @@ public final class Constants {
public static final SupplyCurrentLimitConfiguration SUPPLY_CURRENT_LIMIT_CONFIG = new SupplyCurrentLimitConfiguration(true, 60, 40, 0.5); 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_LEFT_CAN_ID = 23;
public static final int SHOOTER_FALCON_RIGHT_CAN_ID = 24; public static final int SHOOTER_FALCON_RIGHT_CAN_ID = 24;
public static final int SHOOTER_ROTATE_ID = 31; //"unknown value" //figure out later public static final int SHOOTER_ROTATE_ID = 31; // TODO: find
public static final int TURRET_RIGHT_SOFT_LIMIT = 0; //""// public static final int TURRET_RIGHT_SOFT_LIMIT = 0;
public static final double TURRET_SPEED_MULTIPLIER = 0.1d; //""// public static final double TURRET_SPEED_MULTIPLIER = 0.1d;
public static final int DEGREES_PER_ROT = 0; //""// public static final int DEGREES_PER_ROT = 0;
public static final int TURRET_MOTOR_POS_AT_ZERO_ROT = 0; //""// public static final int TURRET_MOTOR_POS_AT_ZERO_ROT = 0;
public static final int TURRET_MOTOR_ROTS_PER_ROT = 0; //""// public static final int TURRET_MOTOR_ROTS_PER_ROT = 0;
public static final double ENCODER_TICKS_PER_REV = 2048; //""// public static final double ENCODER_TICKS_PER_REV = 2048;
@@ -117,10 +117,10 @@ public final class Constants {
public static final double DIG_DEADZONE_LEFT = 40.0; public static final double DIG_DEADZONE_LEFT = 40.0;
public static final double DIG_DEADZONE_RIGHT = 60.0; public static final double DIG_DEADZONE_RIGHT = 60.0;
public static final int SHOOTER_FALCON_BALLER_ID = 0; //unknown value, fix later// public static final int SHOOTER_FALCON_BALLER_ID = 0; // TODO: find
public static final int SHOOTER_FALCON_BALLER_FOLLOWER_ID = 0; //"// public static final int SHOOTER_FALCON_BALLER_FOLLOWER_ID = 0; //"//
public static final Gains DRUM_SHOOTER_GAINS = new Gains(0,0,0,0,0,0);//x,y,z,a,b are not actual values, fix later public static final Gains DRUM_SHOOTER_GAINS = new Gains(0,0,0,0,0,0); // TODO: tune values
/* Hood Constants */ /* Hood Constants */
public static final int SHOOTER_ANGLE_ADJUST_ID = 32; public static final int SHOOTER_ANGLE_ADJUST_ID = 32;
public static final double HOOD_MOTOR_ROTS_PER_ROT = 1; //TODO: Find public static final double HOOD_MOTOR_ROTS_PER_ROT = 1; //TODO: Find
src/main/java/frc4388/robot/commands/AimToCenter.java
+3 -5
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@@ -15,9 +15,8 @@ public class AimToCenter extends CommandBase {
SwerveDrive m_drive; SwerveDrive m_drive;
// use odometry to find x and y later // use odometry to find x and y later
double x = 0; double x;
double y = 0; double y;
double angle = 0;
double m_targetAngle; double m_targetAngle;
// public static Gains m_aimGains; // public static Gains m_aimGains;
@@ -45,8 +44,7 @@ public class AimToCenter extends CommandBase {
public static double angleToCenter(double x, double y, double gyro) { public static double angleToCenter(double x, double y, double gyro) {
double angle = ((Math.atan2(y, x) * (180./Math.PI) - gyro) + 180. + 360.) % 360.; // Finds the angle between the gyro of the robot and the target (positive x is gyro 0) double angle = ((Math.atan2(y, x) * (180./Math.PI) - gyro) + 180. + 360.) % 360.; // Finds the angle between the gyro of the robot and the target (positive x is gyro 0)
return(angle); return angle;
//m_turret.runshooterRotatePID(m_targetAngle);
} }
/** /**