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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/subsystems/Turret.java
+7 -3
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@@ -146,18 +146,22 @@ public class Turret extends SubsystemBase {
leftPrevState = leftState; // * Update the state of the left limit switch.
// * speed limiting near hard limits. tolerance (distance when ramping starts) is 20 rotations. speed at hard limits is 0.2 (percent output).
// * speed limiting near soft limits. tolerance (distance when ramping starts) is 20 rotations. speed at hard limits is 0.2 (percent output).
double currentPos = this.getEncoderPosition();
double forwardDistance = Math.abs(currentPos - ShooterConstants.TURRET_FORWARD_SOFT_LIMIT);
double reverseDistance = Math.abs(currentPos - ShooterConstants.TURRET_REVERSE_SOFT_LIMIT);
if (forwardDistance < ShooterConstants.TURRET_HARD_LIMIT_TOLERANCE) {
if (forwardDistance < ShooterConstants.TURRET_SOFT_LIMIT_TOLERANCE) {
this.speedLimiter = 0.2 + (forwardDistance * 0.05);
}
if (reverseDistance < ShooterConstants.TURRET_HARD_LIMIT_TOLERANCE) {
if (reverseDistance < ShooterConstants.TURRET_SOFT_LIMIT_TOLERANCE) {
this.speedLimiter = 0.2 + (reverseDistance * 0.05);
}
if ((forwardDistance > ShooterConstants.TURRET_SOFT_LIMIT_TOLERANCE) && (reverseDistance > ShooterConstants.TURRET_SOFT_LIMIT_TOLERANCE)) {
this.speedLimiter = 1.0;
}
}
/**