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encoder reset thingies

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aarav18
2022-03-06 18:02:04 -07:00
parent 1699ebeda8
commit b2b1451761
6 changed files with 117 additions and 45 deletions
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src/main/java/frc4388/robot/Constants.java
+4 -6
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@@ -115,7 +115,6 @@ public final class Constants {
// misc
public static final int SMARTDASHBOARD_UPDATE_FRAME = 2;
// TODO: put in real numbers for the hub
public static final Pose2d HUB_POSE = new Pose2d(new Translation2d(0, 0), new Rotation2d(0));
}
@@ -172,8 +171,7 @@ public final class Constants {
public static final double ENCODER_TICKS_PER_REV = 2048;
// Shoot Command Constants
public static final Gains SHOOT_DRIVE_GAINS = new Gains(5.0, 0.0, 0.0, 0.0, 0, 1.0);
public static final Gains SHOOT_TURRET_GAINS = new Gains(2.0, 0.0, 0.0, 0.0, 0, 1.0);
public static final Gains SHOOT_GAINS = new Gains(5.0, 0.0, 0.0, 0.0, 0, 1.0);
/* Turret Constants */
// ID
@@ -193,7 +191,7 @@ public final class Constants {
public static final int SHOOTER_ANGLE_ADJUST_ID = 20;
public static final double HOOD_MOTOR_ROTS_PER_ROT = 1; // TODO: Find
public static final double HOOD_MOTOR_POS_AT_ZERO_ROT = 0; // TODO: Find
public static final float HOOD_FORWARD_LIMIT = 0; // TODO: find
public static final float HOOD_FORWARD_LIMIT = 200; // TODO: find
public static final float HOOD_REVERSE_LIMIT = 0; // TODO: find
}
@@ -209,8 +207,8 @@ public final class Constants {
public static final String NAME = "photonCamera";
public static final double TARGET_HEIGHT = 8*12 + 8; // Convert to metric
public static final double TARGET_RADIUS = 4*12; // Convert to metric
public static final double TARGET_HEIGHT = 8*12 + 8; //TODO: Convert to metric (does this still need to be converted?)
public static final double TARGET_RADIUS = 4*12; //TODO: Convert to metric (does this still need to be converted?)
public static final double H_FOV = 59.6;
public static final double V_FOV = 49.7;
public static final double LIME_VIXELS = 960;