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Min speed and endeffector motor safety

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This commit is contained in:
Michael Mikovsky
2025-03-06 17:34:16 -07:00
parent 90f8e0ee70
commit 85965a892a
6 changed files with 54 additions and 11 deletions
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src/main/java/frc4388/robot/Constants.java
+4
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@@ -331,6 +331,7 @@ public final class Constants {
// public static final int L3_DRIVE_TIME = 500;
public static final int L2_DRIVE_TIME = 250; //Milliseconds
public static final int ALGAE_DRIVE_TIME = 500;
public static final double STOP_VELOCITY = 0.25;
}
public static final class VisionConstants {
@@ -393,6 +394,9 @@ public final class Constants {
public static final CanDevice ENDEFFECTOR_ID = new CanDevice("Endeffector", 15);
public static final CanDevice ELEVATOR_ID = new CanDevice("Elevator", 16);
public static final double SAFETY_ENDEFFECTOR_MAX_TORQUE = 0;
public static final double SAFETY_ENDEFFECTOR_MIN_VELOCITY = 999;
// public static final int BASIN_LIMIT_SWITCH = 8; // TODO: FIND
public static final int BASIN_LIMIT_SWITCH = 8; // TODO: FIND