Team4388/2025RidgeScape
1
0
Fork 0
mirror of https://github.com/Team4388/2025RidgeScape.git synced 2026-06-09 08:48:04 -06:00
Code Issues Packages Projects Releases Wiki Activity

Calibration

Browse Source
This commit is contained in:
Michael Mikovsky
2025-03-08 13:22:14 -07:00
parent 63808a652e
commit c58a2406ac
6 changed files with 110 additions and 37 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/main/java/frc4388/robot/subsystems/Elevator.java
+12 -12
View File
@@ -145,62 +145,62 @@ public class Elevator extends Subsystem {
case L2Score: {
PIDPosition(elevatorMotor, ElevatorConstants.L2_SCORE_ELEVATOR + AutoConstants.ELEVATOR_OFFSET_TRIM.get());
PIDPosition(endeffectorMotor, ElevatorConstants.L2_SCORE_ENDEFFECTOR + AutoConstants.ARM_OFFSET_TRIM.get());
led.setMode(TimesNegativeOne.isRed ? LEDConstants.RED_PATTERN : LEDConstants.BLUE_PATTERN);
led.setMode(LEDConstants.SCORING_PATTERN);
break;
}
case PrimedFour: {
PIDPosition(elevatorMotor, ElevatorConstants.MAX_POSITION_ELEVATOR + AutoConstants.ELEVATOR_OFFSET_TRIM.get());
PIDPosition(endeffectorMotor, ElevatorConstants.COMPLETLY_TOP_ENDEFFECTOR);
led.setMode(TimesNegativeOne.isRed ? LEDConstants.RED_PATTERN : LEDConstants.BLUE_PATTERN);
led.setMode(LEDConstants.SCORING_PATTERN);
break;
}
case ScoringFour: {
PIDPosition(elevatorMotor, ElevatorConstants.MAX_POSITION_ELEVATOR + AutoConstants.ELEVATOR_OFFSET_TRIM.get());
PIDPosition(endeffectorMotor, ElevatorConstants.SCORING_FOUR_ENDEFFECTOR + AutoConstants.ARM_OFFSET_TRIM.get());
led.setMode(TimesNegativeOne.isRed ? LEDConstants.RED_PATTERN : LEDConstants.BLUE_PATTERN);
led.setMode(LEDConstants.SCORING_PATTERN);
break;
}
case PrimedThree: {
PIDPosition(elevatorMotor, ElevatorConstants.SCORING_THREE_ELEVATOR + AutoConstants.ELEVATOR_OFFSET_TRIM.get());
PIDPosition(endeffectorMotor, ElevatorConstants.PRIMED_THREE_ENDEFFECTOR);
led.setMode(TimesNegativeOne.isRed ? LEDConstants.RED_PATTERN : LEDConstants.BLUE_PATTERN);
led.setMode(LEDConstants.SCORING_PATTERN);
break;
}
case ScoringThree: {
PIDPosition(elevatorMotor, ElevatorConstants.SCORING_THREE_ELEVATOR + AutoConstants.ELEVATOR_OFFSET_TRIM.get());
PIDPosition(endeffectorMotor, ElevatorConstants.COMPLETLY_DOWN_ENDEFFECTOR + AutoConstants.ARM_OFFSET_TRIM.get());
led.setMode(TimesNegativeOne.isRed ? LEDConstants.RED_PATTERN : LEDConstants.BLUE_PATTERN);
led.setMode(LEDConstants.SCORING_PATTERN);
break;
}
case BallRemoverL2Primed: {
PIDPosition(elevatorMotor, ElevatorConstants.WAITING_POSITION_ELEVATOR + AutoConstants.ELEVATOR_OFFSET_TRIM.get());
PIDPosition(endeffectorMotor, ElevatorConstants.COMPLETLY_MIDDLE_ENDEFFECTOR);
led.setMode(TimesNegativeOne.isRed ? LEDConstants.RED_PATTERN : LEDConstants.BLUE_PATTERN);
PIDPosition(elevatorMotor, ElevatorConstants.DEALGAE_L2_ELEVATOR + AutoConstants.ELEVATOR_OFFSET_TRIM.get());
PIDPosition(endeffectorMotor, ElevatorConstants.DEALGAE_L2_ENDEFFECTOR);
led.setMode(LEDConstants.SCORING_PATTERN);
break;
}
case BallRemoverL2Go: {
PIDPosition(elevatorMotor, ElevatorConstants.WAITING_POSITION_ELEVATOR + AutoConstants.ELEVATOR_OFFSET_TRIM.get());
PIDPosition(elevatorMotor, ElevatorConstants.DEALGAE_L2_ELEVATOR + AutoConstants.ELEVATOR_OFFSET_TRIM.get());
PIDPosition(endeffectorMotor, ElevatorConstants.DEALGAE_L2_ENDEFFECTOR + AutoConstants.ARM_OFFSET_TRIM.get());
led.setMode(TimesNegativeOne.isRed ? LEDConstants.RED_PATTERN : LEDConstants.BLUE_PATTERN);
led.setMode(LEDConstants.SCORING_PATTERN);
break;
}
case BallRemoverL3Primed: {
PIDPosition(elevatorMotor, ElevatorConstants.DEALGAE_L3_ELEVATOR + AutoConstants.ELEVATOR_OFFSET_TRIM.get());
PIDPosition(endeffectorMotor, ElevatorConstants.COMPLETLY_MIDDLE_ENDEFFECTOR);
PIDPosition(endeffectorMotor, ElevatorConstants.DEALGAE_L2_ENDEFFECTOR);
break;
}
case BallRemoverL3Go: {
PIDPosition(elevatorMotor, ElevatorConstants.DEALGAE_L3_ELEVATOR + AutoConstants.ELEVATOR_OFFSET_TRIM.get());
PIDPosition(endeffectorMotor, ElevatorConstants.DEALGAE_L2_ENDEFFECTOR + AutoConstants.ARM_OFFSET_TRIM.get());
led.setMode(TimesNegativeOne.isRed ? LEDConstants.RED_PATTERN : LEDConstants.BLUE_PATTERN);
led.setMode(LEDConstants.SCORING_PATTERN);
break;
}