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weird ass limit stuff shtuff (IDK WHY IT WORKS)

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aarav18
2022-03-16 23:44:20 -06:00
parent 63f8476b85
commit ebd78f2543
3 changed files with 66 additions and 38 deletions
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src/main/java/frc4388/robot/Constants.java
+2 -1
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@@ -191,6 +191,7 @@ 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 = 0.6;
public static final double TURRET_CALIBRATION_MULTIPLIER = 0.5;
public static final double TURRET_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;
@@ -212,7 +213,7 @@ public final class Constants {
//#endregion test end
public static final double TURRET_FORWARD_HARD_LIMIT = 0.0;
public static final double TURRET_REVERSE_HARD_LIMIT = -85.0;
public static final double TURRET_REVERSE_HARD_LIMIT = -123.0;
public static final double TURRET_FORWARD_SOFT_LIMIT = TURRET_FORWARD_HARD_LIMIT - 2;
public static final double TURRET_REVERSE_SOFT_LIMIT = TURRET_REVERSE_HARD_LIMIT + 2;