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hard limit change

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aarav18
2022-03-19 21:39:56 -06:00
parent be850585ec
commit c350dd4a9d
3 changed files with 7 additions and 2 deletions
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src/main/java/frc4388/robot/Constants.java
+1 -1
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@@ -289,7 +289,7 @@ public final class Constants {
public static final Gains SHOOTER_ANGLE_GAINS = new Gains(0.1, 0.0, 0.0, 0.0, 0, 0.7); 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_HARD_LIMIT = 18.429; public static final double TURRET_FORWARD_HARD_LIMIT = 18.429;
public static final double TURRET_REVERSE_HARD_LIMIT = -106.454; public static final double TURRET_REVERSE_HARD_LIMIT = -117.8;
public static final double TURRET_FORWARD_SOFT_LIMIT = TURRET_FORWARD_HARD_LIMIT - 5; 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_REVERSE_SOFT_LIMIT = TURRET_REVERSE_HARD_LIMIT + 2;
src/main/java/frc4388/robot/RobotContainer.java
+1
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@@ -192,6 +192,7 @@ public class RobotContainer {
getOperatorController().getLeftTriggerAxis(), getOperatorController().getLeftTriggerAxis(),
getOperatorController().getRightTriggerAxis()), getOperatorController().getRightTriggerAxis()),
m_robotIntake).withName("Intake runWithTriggers defaultCommand")); m_robotIntake).withName("Intake runWithTriggers defaultCommand"));
m_robotBoomBoom.setDefaultCommand(new RunCommand(() -> m_robotBoomBoom.runDrumShooter(0.35), m_robotBoomBoom));
// m_robotStorage.setDefaultCommand( // m_robotStorage.setDefaultCommand(
// new ManageStorage(m_robotStorage, // new ManageStorage(m_robotStorage,
src/test/java/frc4388/commands/AimToCenterTest.java
+5 -1
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@@ -10,7 +10,11 @@ public class AimToCenterTest {
private static final double DELTA = 1e-15; private static final double DELTA = 1e-15;
//@Test /**
* Unit tests the isDeadzone function in AimToCenter.java
* @author Ryan Manley
* @link www.hoohle.com
*/
public void givenAngle_whenTestIfDeadzone_thenReturnIfInDeadzone() { public void givenAngle_whenTestIfDeadzone_thenReturnIfInDeadzone() {
boolean output; boolean output;