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Tested elevator

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C4llSiqn
2025-01-20 14:35:34 -07:00
parent 453e0e54af
commit d341b6a7d7
3 changed files with 28 additions and 30 deletions
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src/main/java/frc4388/robot/Constants.java
+13 -13
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@@ -328,32 +328,32 @@ public final class Constants {
}
public static final class ElevatorConstants {
public static final CanDevice ELEVATOR_ID = new CanDevice("Elevator", 724);
public static final CanDevice ELEVATOR_ID = new CanDevice("Elevator", 16);
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 double GEAR_RATIO = 36.0;
public static final double LEVEL_1 = 0 * GEAR_RATIO;
public static final double LEVEL_2 = 5 * GEAR_RATIO;
public static final double ELEVATOR_MAX_HEIGHT = 5 * GEAR_RATIO;
public static final double ELEVATOR_SPEED_UP = 1 * GEAR_RATIO;
public static final double ELEVATOR_SPEED_DOWN = -1 * GEAR_RATIO;
public static final Slot0Configs ELEVATOR_PID = new Slot0Configs()
.withKP(0)
.withKP(1)
.withKI(0)
.withKD(0);
}
public static class EndeffectorConstants {
public static final CanDevice ENDEFFECTOR_ID = new CanDevice("Endeffector", 42);
public static final CanDevice ENDEFFECTOR_ID = new CanDevice("Endeffector", 15);
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 double TOP = 0.25 * GEAR_RATIO;
public static final double MIDDLE = 0.0 * GEAR_RATIO;
public static final double BOTTOM = -0.25 * GEAR_RATIO;
public static final Slot0Configs ENDEFECTOR_PID = new Slot0Configs()
.withKP(0)
.withKP(1)
.withKI(0)
.withKD(0);