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SHOOTER WORKS SEMI MANUAL

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ryan123rudder
2020-03-03 20:59:00 -07:00
parent b8a6e59fac
commit 2f6b219303
14 changed files with 71 additions and 47 deletions
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src/main/java/frc4388/robot/Constants.java
+4 -1
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@@ -125,12 +125,15 @@ public final class Constants {
public static final Gains DRUM_SHOOTER_GAINS = new Gains(0.4, 0.0005, 13, 0.05, 0, 1.0);
//public static final Gains DRUM_SHOOTER_GAINS = new Gains(0.0, 0.0, 0.0, 0.05, 0, 1.0);
public static final Gains SHOOTER_TURRET_GAINS = new Gains(0.0, 0.0, 0.0, 0.0, 0, 1.0);
public static final Gains SHOOTER_ANGLE_GAINS = new Gains(0.05, 0.0, 0.0, 0.0, 0, 1.0);
public static final Gains SHOOTER_ANGLE_GAINS = new Gains(0.05, 0.0, 0.0, 0.0, 0, 0.3);
public static final double SHOOTER_TURRET_MIN = -1.0;
public static final double ENCODER_TICKS_PER_REV = 2048;
public static final double NEO_UNITS_PER_REV = 42;
public static final double DEGREES_PER_ROT = 360;
public static final SupplyCurrentLimitConfiguration SUPPLY_CURRENT_LIMIT_CONFIG =
new SupplyCurrentLimitConfiguration(true, 60, 40, 0.5);
public static final int TURRET_RIGHT_SOFT_LIMIT = -2;
public static final int TURRET_LEFT_SOFT_LIMIT = -55;
public static final double TURRET_SPEED_MULTIPLIER = 0.3;