Team4388/RiseOfRidgebotics2020
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Messing with Turret and storage

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Not completly sure why the shooting actions arent happening in the right order
This commit is contained in:
ryan123rudder
2020-02-28 20:05:56 -07:00
parent 7c83d87085
commit b45f66b023
15 changed files with 85 additions and 35 deletions
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src/main/java/frc4388/robot/Constants.java
+4 -4
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@@ -120,7 +120,7 @@ public final class Constants {
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(0.4, 0.0005, 13, 0.05, 0, 1.0);
public static final Gains DRUM_SHOOTER_GAINS = new Gains(0.0, 0.0, 0, 0.0453, 0, 1.0);
public static final Gains DRUM_SHOOTER_GAINS = new Gains(0.2, 0.0, 0, 0.0453, 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(0.5, 0.0, 0.0, 0.0, 0, 1.0);
public static final double SHOOTER_TURRET_MIN = -1.0;
@@ -130,7 +130,7 @@ public final class Constants {
}
public static final class ClimberConstants {
public static final int CLIMBER_SPARK_ID = 10;
public static final int CLIMBER_SPARK_ID = -10;
}
public static final class LevelerConstants {
@@ -138,7 +138,7 @@ public final class Constants {
}
public static final class StorageConstants {
public static final int STORAGE_CAN_ID = -1;
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;
@@ -159,7 +159,7 @@ public final class Constants {
/* PID Gains */
public static final double STORAGE_MIN_OUTPUT = -1.0;
public static final Gains STORAGE_GAINS = new Gains(0.2, 0.0, 0.0, 0.0, 0, 1.0);
public static final Gains STORAGE_GAINS = new Gains(1, 0.0, 0.0, 0.0, 0, 1.0);
}
public static final class LEDConstants {