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turret pid tuned and degree conversion

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This commit is contained in:
Ryan Manley
2022-03-13 17:57:36 -06:00
parent 68c69d7262
commit cfdac7f069
3 changed files with 13 additions and 12 deletions
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src/main/java/frc4388/robot/Constants.java
+3 -3
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@@ -184,7 +184,7 @@ public final class Constants {
public static final int SHOOTER_FALCON_LEFT_CAN_ID = 21;
public static final int SHOOTER_FALCON_RIGHT_CAN_ID = 22;
public static final double TURRET_SPEED_MULTIPLIER = 0.4d;
public static final int DEGREES_PER_ROT = 0;
public static final double DEGREES_PER_ROT = 180.0/105.45445251464844;
public static final int TURRET_MOTOR_POS_AT_ZERO_ROT = 0;
public static final int TURRET_MOTOR_ROTS_PER_ROT = 0;
public static final double ENCODER_TICKS_PER_REV = 2048;
@@ -196,10 +196,10 @@ public final class Constants {
// ID
public static final int TURRET_MOTOR_CAN_ID = 19;
//Gains for turret
public static final Gains SHOOTER_TURRET_GAINS = new Gains(0.6, 0.0, 0.0, 0.0, 0, 1.0);
public static final Gains SHOOTER_TURRET_GAINS = new Gains(0.1, 0.0, 0.1, 0.0, 0, 0.6);
public static final double SHOOTER_TURRET_MIN = -0.6;
//Gains for hood
public static final Gains SHOOTER_ANGLE_GAINS = new Gains(0.1, 0.0, 0.0, 0.0, 0, 0.7);
public static final double SHOOTER_TURRET_MIN = -1.0;
public static final double TURRET_FORWARD_LIMIT = 17.0; // TODO: find
public static final double TURRET_REVERSE_LIMIT = -105.0; // TODO: find
//Shooter gains for actual Drum