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destall prt 2

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C4llSiqn
2025-02-25 16:59:19 -07:00
parent f9eb029b66
commit bab7469379
2 changed files with 5 additions and 5 deletions
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src/main/java/frc4388/robot/Constants.java
+1 -1
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@@ -366,7 +366,7 @@ public final class Constants {
// public static final double HORISONTAL_SCORING_POSITION_OFFSET = Units.inchesToMeters(6.5); // Positive is Right
public static final double VERTICAL_SCORING_POSITION_OFFSET = Units.inchesToMeters(17);
public static final double VERTICAL_SCORING_POSITION_OFFSET = Units.inchesToMeters(16);
public static final double L4_DISTANCE_1 = VERTICAL_SCORING_POSITION_OFFSET + Units.inchesToMeters(6);
public static final double L4_DISTANCE_2 = VERTICAL_SCORING_POSITION_OFFSET + Units.inchesToMeters(12);
public static final double L3_DISTANCE_1 = VERTICAL_SCORING_POSITION_OFFSET + Units.inchesToMeters(6);
src/main/java/frc4388/robot/subsystems/Elevator.java
+4 -4
View File
@@ -178,25 +178,25 @@ public class Elevator extends SubsystemBase {
public boolean elevatorAtRefrence() {
// double elevatorRefrence = elevatorMotor.getClosedLoopReference().getValueAsDouble();
double elevatorPosition = elevatorMotor.getPosition().getValueAsDouble();
double diffrence = Math.abs(elevatorPosition) - Math.abs(elevatorRefrence);
double diffrence = elevatorRefrence - elevatorPosition;
boolean headedUp = diffrence < 0;
boolean forwardLimit = elevatorMotor.getForwardLimit().asSupplier().get().value == 0;
boolean reverseLimit = elevatorMotor.getReverseLimit().asSupplier().get().value == 0;
return (Math.abs(diffrence) >= 99999 || (reverseLimit && headedUp) || (forwardLimit && !headedUp));
return (Math.abs(diffrence) <= 0.5 || (reverseLimit && headedUp) || (forwardLimit && !headedUp));
}
public boolean endefectorAtRefrence() {
// double elevatorRefrence = endefectorMotor.getClosedLoopReference().getValueAsDouble();
double endefectorPosition = endefectorMotor.getPosition().getValueAsDouble();
double diffrence = Math.abs(endefectorPosition) - Math.abs(endefectorRefrence);
double diffrence = endefectorRefrence - endefectorPosition;
boolean headedUp = diffrence < 0;
boolean forwardLimit = endefectorMotor.getForwardLimit().asSupplier().get().value == 0;
boolean reverseLimit = endefectorMotor.getReverseLimit().asSupplier().get().value == 0;
return (Math.abs(diffrence) >= 99999 || (reverseLimit && headedUp) || (forwardLimit && !headedUp));
return (Math.abs(diffrence) <= 0.5 || (reverseLimit && headedUp) || (forwardLimit && !headedUp));
}
// public void driveElevatorStick(Translation2d stick) {
// if (stick.getNorm() > 0.05) {