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minor angle adjustments

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This commit is contained in:
aarav18
2022-01-24 17:55:23 -07:00
parent 0ecae16cfe
commit fe07715d95
2 changed files with 33 additions and 24 deletions
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src/main/java/frc4388/robot/Constants.java
+7 -7
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@@ -82,13 +82,13 @@ public final class Constants {
public static final int GYRO_ID = -1;
// TODO Update this stuff too
public static final double UPPER_ARM_LENGTH = 50; // Units should be in cm
public static final double LOWER_ARM_LENGTH = 50;
public static final double UPPER_ARM_LENGTH = 26; // Units should be in cm
public static final double LOWER_ARM_LENGTH = 27;
public static final double MAX_ARM_LENGTH = 100;
public static final double MIN_ARM_LENGTH = 0;
public static final double MAX_ARM_LENGTH = 53;
public static final double MIN_ARM_LENGTH = 1;
public static final double MOVE_SPEED = .2; // cm per second
public static final double MOVE_SPEED = .1; // cm per second
public static final double SHOULDER_RESTING_ANGLE = 0;
public static final double ELBOW_RESTING_ANGLE = 0;
@@ -100,8 +100,8 @@ 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(1.0, 0.0, 0.0, 0.0, 0, 1.0);
public static final Gains ELBOW_GAINS = new Gains(1.0, 0.0, 0.0, 0.0, 0, 1.0);
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 int CLIMBER_TIMEOUT_MS = 50;
}