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Merge branch 'master' into Storage-Neo-PID-Integration

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This commit is contained in:
Keenan D. Buckley
2020-02-11 17:28:41 -07:00
committed by GitHub
parent a4ac866d1c c94de7fdc6
commit 6694b3f289
10 changed files with 456 additions and 52 deletions
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src/main/java/frc4388/robot/Constants.java
+17 -4
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@@ -32,8 +32,8 @@ public final class Constants {
public static final Gains DRIVE_VELOCITY_GAINS = new Gains(0.0, 0.0, 0.0, 0.1, 0, 1.0);
public static final Gains DRIVE_TURNING_GAINS = new Gains(0.4, 0.0, 0.0, 0.0, 0, 0.3);
public static final Gains DRIVE_MOTION_MAGIC_GAINS = new Gains(0.2, 0.0, 0.0, 0.0, 0, 1.0);
public static final int DRIVE_CRUISE_VELOCITY = 2000;
public static final int DRIVE_ACCELERATION = 1000;
public static final int DRIVE_CRUISE_VELOCITY = 20000;
public static final int DRIVE_ACCELERATION = 7000;
/* Remote Sensors */
public final static int REMOTE_0 = 0;
@@ -66,7 +66,20 @@ public final class Constants {
}
public static final class IntakeConstants {
public static final int INTAKE_SPARK_ID = 1;
public static final int INTAKE_SPARK_ID = 9;
public static final int EXTENDER_SPARK_ID = 10;
}
public static final class ShooterConstants {
public static final int SHOOTER_FALCON_ID = 8;
/* PID Constants Shooter */
public static final int SHOOTER_SLOT_IDX = 0;
public static final int SHOOTER_PID_LOOP_IDX = 1;
public static final int SHOOTER_TIMEOUT_MS = 30;
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 class ClimberConstants {
@@ -74,7 +87,7 @@ public final class Constants {
}
public static final class LevelerConstants {
public static final int LEVELER_CAN_ID = 9;
public static final int LEVELER_CAN_ID = -1;
}
public static final class StorageConstants {