Team4388/RiseOfRidgebotics2020
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Merge branch 'master' into auto-programming

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Kyra
2020-03-10 20:01:11 -06:00
parent 28d9e0a5f4 c34c29af80
commit b5155fa341
24 changed files with 530 additions and 519 deletions
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src/main/java/frc4388/robot/Constants.java
+25 -21
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@@ -109,12 +109,6 @@ public final class Constants {
public static final double TICKS_PER_INCH_LOW = TICKS_PER_WHEEL_REV_LOW/INCHES_PER_WHEEL_REV;
public static final double INCHES_PER_TICK_LOW = 1/TICKS_PER_INCH_LOW;
}
public static final class IntakeConstants {;
public static final double EXTENDER_SPEED = 0.3;
public static final int INTAKE_SPARK_ID = 12;
public static final int EXTENDER_SPARK_ID = 13;
}
public static final class ShooterConstants {
/* Motor IDs */
@@ -126,8 +120,7 @@ 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(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 DRUM_SHOOTER_GAINS = new Gains(0.55, 0.0, 100, 0.0, 0, 1.0);
public static final Gains SHOOTER_TURRET_GAINS = new Gains(0.0, 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, 0.3);
public static final double SHOOTER_TURRET_MIN = -1.0;
@@ -160,29 +153,40 @@ public final class Constants {
public static final class LevelerConstants {
public static final int LEVELER_CAN_ID = 15;
}
public static final class IntakeConstants {;
public static final double EXTENDER_SPEED = 0.3;
public static final double INTAKE_SPEED = 1.0;
public static final int INTAKE_SPARK_ID = 12;
public static final int EXTENDER_SPARK_ID = 13;
}
public static final class StorageConstants {
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_TIMEOUT = 2000;
public static final double STORAGE_SPEED = 1.0;
public static final double STORAGE_TIMEOUT = 3000;
/* Storage Characteristics */
public static final double MOTOR_ROTS_PER_STORAGE_ROT = 1; //For the first storage belt
public static final double INCHES_PER_STORAGE_ROT = 1; //Circumference of the first storage belt
/* Ball Indexes */
public static final int BEAM_SENSOR_SHOOTER = 1;
public static final int BEAM_SENSOR_USELESS = 2;
public static final int BEAM_SENSOR_STORAGE = 3;
public static final int BEAM_SENSOR_INTAKE = 4;
public static final int BEAM_SENSOR_SHOOTER = 11;
public static final int BEAM_SENSOR_USELESS = 12;
public static final int BEAM_SENSOR_STORAGE = 13;
public static final int BEAM_SENSOR_INTAKE = 14;
/* PID Gains */
public static final Gains STORAGE_GAINS = new Gains(0.1, 0.0, 0.0, 0.0, 0, 1.0);
/* PID Values */
public static final int SLOT_DISTANCE = 0;
/* PID Indexes */
public static final int PID_PRIMARY = 0;
/* PID Gains */
public static final double STORAGE_MIN_OUTPUT = -1.0;
public static final Gains STORAGE_GAINS = new Gains(0.1, 0.0, 0.0, 0.0, 0, 1.0);
}
public static final class PneumaticsConstants {
@@ -202,9 +206,9 @@ 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;
public static final double LIME_ANGLE = 25;
public static final double TURN_P_VALUE = 0.65;
public static final double TARGET_HEIGHT = 71.5;
public static final double LIME_ANGLE = 24.7;
public static final double TURN_P_VALUE = 0.6;
public static final double X_ANGLE_ERROR = 1.3;
public static final double MOTOR_DEAD_ZONE = 0.3;
public static final double DISTANCE_ERROR_EQUATION_M = 1.1279;