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storage and turret shtuff

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Ryan Manley
2022-03-16 12:05:34 -06:00
parent ca4d87977a
commit a67e3ebd4b
4 changed files with 24 additions and 15 deletions
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src/main/java/frc4388/robot/Constants.java
+4 -4
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@@ -203,12 +203,12 @@ public final class Constants {
// ID
public static final int TURRET_MOTOR_CAN_ID = 19;
//Gains for turret
public static final Gains SHOOTER_TURRET_GAINS = new Gains(0.1, 0.0, 0.1, 0.0, 0, 0.6);
public static final double SHOOTER_TURRET_MIN = -0.6;
public static final Gains SHOOTER_TURRET_GAINS = new Gains(0.1, 0.0, 0.1, 0.0, 0, TURRET_SPEED_MULTIPLIER);
public static final double SHOOTER_TURRET_MIN = -TURRET_SPEED_MULTIPLIER;
//Gains for hood
public static final Gains SHOOTER_ANGLE_GAINS = new Gains(0.1, 0.0, 0.0, 0.0, 0, 0.7);
public static final double TURRET_FORWARD_LIMIT = 17.0; // TODO: find
public static final double TURRET_REVERSE_LIMIT = -105.0; // TODO: find
public static final double TURRET_FORWARD_LIMIT = 0.0;
public static final double TURRET_REVERSE_LIMIT = -95.0; //Find
//Shooter gains for actual Drum
public static final Gains DRUM_SHOOTER_GAINS = new Gains(0.4, 0.0, 15.0, 0.05, 0, 0); // TODO: tune values