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Added Endeffector and Gear Ratios

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Created Endeffector Subsystem and added Gear Ratios.
This commit is contained in:
Michael Mikovsky
2025-01-17 20:55:53 -07:00
parent faf17348c3
commit 453e0e54af
4 changed files with 94 additions and 5 deletions
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src/main/java/frc4388/robot/Constants.java
+21 -5
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@@ -330,11 +330,12 @@ public final class Constants {
public static final class ElevatorConstants {
public static final CanDevice ELEVATOR_ID = new CanDevice("Elevator", 724);
public static final double LEVEL_1 = 123;
public static final double LEVEL_2 = 123;
public static final double ELEVATOR_MAX_HEIGHT = 123;
public static final double ELEVATOR_SPEED_UP = 123;
public static final double ELEVATOR_SPEED_DOWN = -123;
public static final double GEAR_RATIO = 100.0;
public static final double LEVEL_1 = 123 * GEAR_RATIO;
public static final double LEVEL_2 = 123 * GEAR_RATIO;
public static final double ELEVATOR_MAX_HEIGHT = 123 * GEAR_RATIO;
public static final double ELEVATOR_SPEED_UP = 123 * GEAR_RATIO;
public static final double ELEVATOR_SPEED_DOWN = -123 * GEAR_RATIO;
public static final Slot0Configs ELEVATOR_PID = new Slot0Configs()
@@ -342,4 +343,19 @@ public final class Constants {
.withKI(0)
.withKD(0);
}
public static class EndeffectorConstants {
public static final CanDevice ENDEFFECTOR_ID = new CanDevice("Endeffector", 42);
public static final double GEAR_RATIO = 100.0;
public static final double TOP = 8.0 * GEAR_RATIO;
public static final double MIDDLE = 6.0 * GEAR_RATIO;
public static final double BOTTOM = 4.0 * GEAR_RATIO;
public static final Slot0Configs ENDEFECTOR_PID = new Slot0Configs()
.withKP(0)
.withKI(0)
.withKD(0);
}
}