Team4388/RiseOfRidgebotics2020
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Create Shooter Subsystem and PID stuff

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Created shooter subsystem, set up command for shooter to run, set up PID constants, set up gains method in shooter.
This commit is contained in:
Kyra
2020-01-18 15:28:48 -08:00
parent 101cfb5d10
commit d9bd213ff2
5 changed files with 102 additions and 24 deletions
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src/main/java/frc4388/robot/Constants.java
+12
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@@ -51,6 +51,18 @@ public final class Constants {
public static final double ENCODER_TICKS_PER_REV = 2048;
}
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(0.2, 0.0, 0.0, 0.2, 0, 1.0);
public static final double ENCODER_TICKS_PER_REV = 2048;
}
public static final class LEDConstants {
public static final int LED_SPARK_ID = 0;