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Added hooks and did code review stuff

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Arm will no longer teleport
This commit is contained in:
66945
2022-01-21 17:20:31 -07:00
parent e01ffd3329
commit ab2a3f6866
5 changed files with 85 additions and 16 deletions
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src/main/java/frc4388/robot/Constants.java
+15 -2
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@@ -21,6 +21,8 @@ import frc4388.utility.LEDPatterns;
* constants are needed, to reduce verbosity.
*/
public final class Constants {
public static final double TICKS_PER_ROTATION_FX = 2048;
public static final class SwerveDriveConstants {
public static final double ROTATION_SPEED = 0.1;
public static final double WHEEL_SPEED = 0.1;
@@ -83,11 +85,14 @@ public final class Constants {
public static final double UPPER_ARM_LENGTH = 50; // Units should be in cm
public static final double LOWER_ARM_LENGTH = 50;
public static final double MAX_ARM_LENGTH = LOWER_ARM_LENGTH + UPPER_ARM_LENGTH;
public static final double MIN_ARM_LENGTH = Math.abs(LOWER_ARM_LENGTH + UPPER_ARM_LENGTH);
public static final double MAX_ARM_LENGTH = 100;
public static final double MIN_ARM_LENGTH = 5;
public static final double MOVE_SPEED = 50; // cm per second
public static final double SHOULDER_RESTING_ANGLE = 0;
public static final double ELBOW_RESTING_ANGLE = 0;
// PID Constants
public static final int SHOULDER_SLOT_IDX = 0;
public static final int SHOULDER_PID_LOOP_IDX = 1;
@@ -100,6 +105,14 @@ public final class Constants {
public static final int CLIMBER_TIMEOUT_MS = 100;
}
public static final class HooksConstants {
public static final int LEFT_HOOK_ID = -1;
public static final int RIGHT_HOOK_ID = -1;
public static final double OPEN_POSITION = 0;
public static final double CLOSE_POSITION = 0;
}
/**
* The OIConstants class contains the ID for the XBox controllers
*/