Team4388/RiseOfRidgebotics2020
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ryan123rudder
2020-03-02 21:03:39 -07:00
parent a6e5103193
commit ddf18c3a93
14 changed files with 100 additions and 105 deletions
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src/main/java/frc4388/robot/Constants.java
+4 -4
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@@ -121,8 +121,8 @@ 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(0.2, 0.0, 0, 0.0453, 0, 1.0);
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 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, 1.0);
public static final double SHOOTER_TURRET_MIN = -1.0;
@@ -139,7 +139,7 @@ public final class Constants {
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 = 0.1;
public static final double HOOD_CALIBRATE_SPEED = 0.2;
public static final double DRUM_RAMP_LIMIT = 1000;
public static final double DRUM_VELOCITY_BOUND = 300;
@@ -194,7 +194,7 @@ 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 = 64;
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 X_ANGLE_ERROR = 1.3;