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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/subsystems/Hood.java
+2 -5
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@@ -68,19 +68,16 @@ public class Hood extends SubsystemBase {
double reverseDistance = Math.abs(currentPos - ShooterConstants.HOOD_REVERSE_SOFT_LIMIT);
if (forwardDistance < ShooterConstants.HOOD_SOFT_LIMIT_TOLERANCE) {
this.speedLimiter = 0.2 + (forwardDistance * 0.05);
this.speedLimiter = 0.2 + (forwardDistance * (1 / ShooterConstants.HOOD_SOFT_LIMIT_TOLERANCE));
}
if (reverseDistance < ShooterConstants.HOOD_SOFT_LIMIT_TOLERANCE) {
this.speedLimiter = 0.2 + (reverseDistance * 0.05);
this.speedLimiter = 0.2 + (reverseDistance * (1 / ShooterConstants.HOOD_SOFT_LIMIT_TOLERANCE));
}
if ((forwardDistance > ShooterConstants.HOOD_SOFT_LIMIT_TOLERANCE) && (reverseDistance > ShooterConstants.HOOD_SOFT_LIMIT_TOLERANCE)) {
this.speedLimiter = 1.0;
}
double hoodCurrent = m_angleAdjusterMotor.getOutputCurrent();
}
/**