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Added Neo PID loops to Shooter Subsystem for angle adjustment and rotating the shooter

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mayabartels
2020-02-11 16:09:31 -08:00
parent c94de7fdc6
commit 5bb1dbc397
3 changed files with 60 additions and 1 deletions
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src/main/java/frc4388/robot/Constants.java
+5
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@@ -71,7 +71,10 @@ public final class Constants {
}
public static final class ShooterConstants {
/* Motor IDs */
public static final int SHOOTER_FALCON_ID = 8;
public static final int SHOOTER_ANGLE_ADJUST_ID = -1;
public static final int SHOOTER_ROTATE_ID = -2;
/* PID Constants Shooter */
public static final int SHOOTER_SLOT_IDX = 0;
@@ -80,6 +83,8 @@ public final class Constants {
public static final Gains SHOOTER_GAINS = new Gains(0.4, 0.0005, 13, 0.05, 0, 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 class ClimberConstants {