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gains n stuff

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aarav18
2022-03-18 17:37:11 -06:00
parent 43e3a14c4d
commit eb34d03c3c
3 changed files with 53 additions and 39 deletions
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src/main/java/frc4388/robot/Constants.java
+3 -3
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@@ -185,7 +185,7 @@ public final class Constants {
public static final double MAX_ARM_LENGTH = 53;
public static final double MIN_ARM_LENGTH = 1;
public static final double MOVE_SPEED = .1; // cm per second
public static final double MOVE_SPEED = 30000; // ticks per second
public static final double SHOULDER_RESTING_ANGLE = 0;
public static final double ELBOW_RESTING_ANGLE = 0;
@@ -208,8 +208,8 @@ public final class Constants {
public static final int ELBOW_SLOT_IDX = 0;
public static final int ELBOW_PID_LOOP_IDX = 1;
public static final Gains SHOULDER_GAINS = new Gains(.4, 0.0, 0.0, 0.0, 0, 1.0);
public static final Gains ELBOW_GAINS = new Gains(.4, 0.0, 0.0, 0.0, 0, 1.0);
public static final Gains SHOULDER_GAINS = new Gains(0.5, 0.0, 0.0, 0.0, 0, 0.2);
public static final Gains ELBOW_GAINS = new Gains(0.5, 0.0, 30.0, 0.0, 0, 1.0); //Prev P 1 d 0.4
public static final int CLIMBER_TIMEOUT_MS = 50;