Team4388/RiseOfRidgebotics2020
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Merge branch 'master' into autoRevert

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This commit is contained in:
Nirvan Bhalala
2021-04-15 16:05:37 -07:00
committed by GitHub
parent d470e37239 b3373e68e9
commit d5473e3204
37 changed files with 2102 additions and 109 deletions
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src/main/java/frc4388/robot/Constants.java
+11 -5
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@@ -120,8 +120,9 @@ 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(0.55, 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 DRUM_SHOOTER_GAINS = new Gains(1.5, 0.0, 100, 0.055, 0, 1.0);
//public static final Gains DRUM_SHOOTER_GAINS = new Gains(0.55, 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);
public static final double SHOOTER_TURRET_MIN = -1.0;
public static final double ENCODER_TICKS_PER_REV = 2048;
@@ -135,12 +136,16 @@ public final class Constants {
public static final int TURRET_LEFT_SOFT_LIMIT = -55;
public static final double TURRET_SPEED_MULTIPLIER = 0.3;
public static final double TURRET_CALIBRATE_SPEED = 0.075;
public static final double TURRET_MOTOR_ROTS_PER_ROT = 101.04972; //89.56696;
public static final double TURRET_MOTOR_POS_AT_ZERO_ROT = -28.452166;
public static final int HOOD_UP_SOFT_LIMIT = 33;
public static final int HOOD_DOWN_SOFT_LIMIT = 3;
public static final double HOOD_CONVERT_SLOPE = 0.47;
public static final double HOOD_CONVERT_B = 40.5;
public static final double HOOD_CALIBRATE_SPEED = 0.2;
public static final double HOOD_MOTOR_ROTS_PER_ROT = 1; //TODO: Find
public static final double HOOD_MOTOR_POS_AT_ZERO_ROT = 0; //TODO: Find
public static final double DRUM_RAMP_LIMIT = 1000;
public static final double DRUM_VELOCITY_BOUND = 300;
@@ -166,7 +171,7 @@ 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 = 1.0;
public static final double STORAGE_SPEED = 0.5;
public static final double STORAGE_TIMEOUT = 3000;
/* Storage Characteristics */
@@ -208,9 +213,9 @@ public final class Constants {
public static final double FOV = 29.8; //Field of view of limelight
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 TURN_P_VALUE = 0.8;
public static final double X_ANGLE_ERROR = 1.3;
public static final double MOTOR_DEAD_ZONE = 0.3;
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;
public static final double GRAV = 385.83;
@@ -219,5 +224,6 @@ public final class Constants {
public static final class OIConstants {
public static final int XBOX_DRIVER_ID = 0;
public static final int XBOX_OPERATOR_ID = 1;
public static final int BUTTON_FOX_ID = 2;
}
}