Team4388/RiseOfRidgebotics2020
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Merge branch 'master' into GalacticSearch

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Kyra
2021-04-22 17:36:04 -06:00
parent 78ef2c117c e914c511a8
commit af63e94d2b
50 changed files with 498 additions and 162 deletions
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src/main/java/frc4388/robot/Constants.java
+8 -7
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@@ -36,7 +36,7 @@ public final class Constants {
public static final boolean isRightMotorInverted = true;
public static final boolean isLeftMotorInverted = false;
public static final boolean isRightArcadeInverted = false;
public static final boolean isAuxPIDInverted = true;
public static final boolean isAuxPIDInverted = false;
/* Drive Configuration */
public static final int DRIVE_TIMEOUT_MS = 30; // Use for all motor config
@@ -112,7 +112,8 @@ public final class Constants {
public static final class ShooterConstants {
/* Motor IDs */
public static final int SHOOTER_FALCON_ID = 8;
public static final int SHOOTER_FALCON_BALLER_ID = 8;
public static final int SHOOTER_FALCON_BALLER_FOLLOWER_ID = 15;
public static final int SHOOTER_ANGLE_ADJUST_ID = 10;
public static final int SHOOTER_ROTATE_ID = 9;
@@ -120,7 +121,7 @@ public final class Constants {
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 DRUM_SHOOTER_GAINS = new Gains(1.5, 0.0, 100, 0.055, 0, 1.0);
public static final Gains DRUM_SHOOTER_GAINS = new Gains(0.34, 0.0, 0.0, 0.055, 0, 1.0); //Ff was 0.055
//public static final Gains DRUM_SHOOTER_GAINS = new Gains(0.55, 0.0, 100, 0.0, 0, 1.0);
public static final Gains SHOOTER_TURRET_GAINS = new Gains(0.6, 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);
@@ -156,7 +157,7 @@ public final class Constants {
}
public static final class LevelerConstants {
public static final int LEVELER_CAN_ID = 15;
public static final int LEVELER_CAN_ID = 30;
}
public static final class IntakeConstants {;
@@ -171,7 +172,7 @@ public final class Constants {
public static final int STORAGE_CAN_ID = 11;
public static final double STORAGE_PARTIAL_BALL = 2;
public static final double STORAGE_FULL_BALL = 7;
public static final double STORAGE_SPEED = 0.5;
public static final double STORAGE_SPEED = 0.75;
public static final double STORAGE_TIMEOUT = 3000;
/* Storage Characteristics */
@@ -211,10 +212,10 @@ public final class Constants {
public static final class VisionConstants {
public static final double FOV = 29.8; //Field of view of limelight
public static final double TARGET_HEIGHT = 71.5;
public static final double TARGET_HEIGHT = 67.5;
public static final double LIME_ANGLE = 24.7;
public static final double TURN_P_VALUE = 0.8;
public static final double X_ANGLE_ERROR = 1.3;
public static final double X_ANGLE_ERROR = 0.5;
public static final double MOTOR_DEAD_ZONE = 0.2;
public static final double DISTANCE_ERROR_EQUATION_M = 1.1279;
public static final double DISTANCE_ERROR_EQUATION_B = -15.0684;