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Intergrate endefector into elevator for cordination

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This commit is contained in:
C4llSiqn
2025-01-27 17:29:25 -07:00
parent a7ac44c25d
commit 2b376d741c
5 changed files with 101 additions and 125 deletions
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src/main/java/frc4388/robot/Constants.java
+16 -17
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@@ -390,34 +390,33 @@ public final class Constants {
}
public static final class ElevatorConstants {
public static final CanDevice ENDEFFECTOR_ID = new CanDevice("Endeffector", 15);
public static final CanDevice ELEVATOR_ID = new CanDevice("Elevator", 16);
public static final double GEAR_RATIO = 36.0;
public static final double LEVEL_1 = 0 * GEAR_RATIO;
public static final double LEVEL_2 = 5 * GEAR_RATIO;
public static final double ELEVATOR_MAX_HEIGHT = 5 * GEAR_RATIO;
public static final double ELEVATOR_SPEED_UP = 1 * GEAR_RATIO;
public static final double ELEVATOR_SPEED_DOWN = -1 * GEAR_RATIO;
public static final int BASIN_LIMIT_SWITCH = 0; // TODO: FIND
public static final int ENDEFFECTOR_LIMIT_SWITCH = 1; // TODO: FIND
public static final double GEAR_RATIO_ELEVATOR = 36.0;
public static final double GROUND_POSITION_ELEVATOR = 0 * GEAR_RATIO_ELEVATOR;
public static final double WAITING_POSITION_ELEVATOR = 2 * GEAR_RATIO_ELEVATOR; // TODO: find 4-6 off the ground
public static final double MAX_POSITION_ELEVATOR = 20 * GEAR_RATIO_ELEVATOR; // TODO: find MAX position
public static final double GEAR_RATIO_ENDEFECTOR = 100.0;
public static final double COMPLETLY_DOWN_ENDEFECTOR = 0 * GEAR_RATIO_ENDEFECTOR;
public static final double COMPLETLY_MIDDLE_ENDEFECTOR = 0.25 * GEAR_RATIO_ENDEFECTOR;
public static final double SCORING_THREE_ENDEFECTOR = 0.4 * GEAR_RATIO_ENDEFECTOR; // TODO: find this value
public static final double COMPLETLY_TOP_ENDEFECTOR = 0.5 * GEAR_RATIO_ENDEFECTOR;
public static final Slot0Configs ELEVATOR_PID = new Slot0Configs()
.withKP(1)
.withKI(0)
.withKD(0);
}
public static class EndeffectorConstants {
public static final CanDevice ENDEFFECTOR_ID = new CanDevice("Endeffector", 15);
public static final double GEAR_RATIO = 100.0;
public static final double TOP = 0.25 * GEAR_RATIO;
public static final double MIDDLE = 0.0 * GEAR_RATIO;
public static final double BOTTOM = -0.25 * GEAR_RATIO;
public static final Slot0Configs ENDEFECTOR_PID = new Slot0Configs()
.withKP(1)
.withKI(0)
.withKD(0);
}
}