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speed ramp fixes for hood + turret

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aarav18
2022-03-17 13:49:13 -06:00
parent 0a79361a97
commit ba8de492b3
4 changed files with 44 additions and 14 deletions
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src/main/java/frc4388/robot/Constants.java
+6 -3
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@@ -4,6 +4,8 @@
package frc4388.robot;
import java.security.PublicKey;
import com.ctre.phoenix.motorcontrol.StatorCurrentLimitConfiguration;
import com.ctre.phoenix.motorcontrol.SupplyCurrentLimitConfiguration;
@@ -215,7 +217,7 @@ public final class Constants {
public static final double TURRET_FORWARD_SOFT_LIMIT = TURRET_FORWARD_HARD_LIMIT - 5;
public static final double TURRET_REVERSE_SOFT_LIMIT = TURRET_REVERSE_HARD_LIMIT + 2;
public static final double TURRET_HARD_LIMIT_TOLERANCE = 20.0;
public static final double TURRET_SOFT_LIMIT_TOLERANCE = 20.0;
//Shooter gains for actual Drum
public static final Gains DRUM_SHOOTER_GAINS = new Gains(0.4, 0.0, 15.0, 0.05, 0, 0);
@@ -223,8 +225,9 @@ 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 double HOOD_FORWARD_LIMIT = 0.0; // TODO: find
public static final double HOOD_REVERSE_LIMIT = -150; // TODO: find
public static final double HOOD_FORWARD_SOFT_LIMIT = 0.0; // TODO: find
public static final double HOOD_REVERSE_SOFT_LIMIT = -150; // TODO: find
public static final double HOOD_SOFT_LIMIT_TOLERANCE = 20.0;
}