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speed limiters for elbow and shoulder

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aarav18
2022-03-18 14:45:27 -06:00
parent e920a2a668
commit cb3f1942b6
4 changed files with 52 additions and 18 deletions
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src/main/java/frc4388/robot/Constants.java
+6 -5
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@@ -175,7 +175,8 @@ public final class Constants {
public static final int GYRO_ID = 14;
public static final double INPUT_MULTIPLIER = 0.7;
public static final double CLIMBER_SOFT_LIMIT_TOLERANCE = 20.0;
public static final double ELBOW_SOFT_LIMIT_TOLERANCE = 20000.0;
public static final double SHOULDER_SOFT_LIMIT_TOLERANCE = 12000.0;
// TODO Update this stuff too
public static final double UPPER_ARM_LENGTH = 26; // Units should be in cm
@@ -195,10 +196,10 @@ public final class Constants {
public static final double ELBOW_GB_RATIO = 1.d;
public static final double SHOULDER_GB_RATIO = 1.d;
public static final double SHOULDER_SOFT_LIMIT_FORWARD = 53869;
public static final double SHOULDER_SOFT_LIMIT_REVERSE = 0;
public static final double ELBOW_SOFT_LIMIT_FORWARD = 281717;
public static final double ELBOW_SOFT_LIMIT_REVERSE = 0;
public static final double SHOULDER_FORWARD_SOFT_LIMIT = 53869;
public static final double SHOULDER_REVERSE_SOFT_LIMIT = 0;
public static final double ELBOW_FORWARD_SOFT_LIMIT = 281717;
public static final double ELBOW_REVERSE_SOFT_LIMIT = 0;
// PID Constants
public static final int SHOULDER_SLOT_IDX = 0;