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This commit is contained in:
Michael Mikovsky
2025-02-17 15:45:59 -07:00
parent b4b123237b
commit 47646dc12b
3 changed files with 38 additions and 16 deletions
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src/main/java/frc4388/robot/Constants.java
+3 -3
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@@ -404,11 +404,11 @@ public final class Constants {
public static final double GEAR_RATIO_ELEVATOR = -9.0;
public static final double GROUND_POSITION_ELEVATOR = 0 * GEAR_RATIO_ELEVATOR;
public static final double WAITING_POSITION_ELEVATOR = 2 * GEAR_RATIO_ELEVATOR; // TODO: find 2-4 in off the pipe
public static final double WAITING_POSITION_ELEVATOR = (2 / 3.d) * GEAR_RATIO_ELEVATOR; // TODO: find 2-4 in off the pipe
public static final double WAITING_POSITION_BEAM_BREAK_ELEVATOR = 2 * GEAR_RATIO_ELEVATOR; // TODO: find on the pipe
public static final double MAX_POSITION_ELEVATOR = 4.5 * GEAR_RATIO_ELEVATOR; // TODO: find MAX position
public static final double GEAR_RATIO_ENDEFECTOR = 100.0;
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;
@@ -416,7 +416,7 @@ public final class Constants {
public static final double COMPLETLY_TOP_ENDEFECTOR = 0.5 * GEAR_RATIO_ENDEFECTOR;
public static final Slot0Configs ELEVATOR_PID = new Slot0Configs()
.withKP(.1)
.withKP(1)
.withKI(0)
.withKD(0);