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Merge branch 'master' into fix-storage-2-electric-bogaloo

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ryan123rudder
2020-03-09 19:13:52 -06:00
committed by GitHub
parent f19716ba8f 96c4f644bf
commit e4b9969244
5 changed files with 52 additions and 23 deletions
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src/main/java/frc4388/robot/Constants.java
+4 -5
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@@ -116,8 +116,7 @@ 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;
@@ -203,9 +202,9 @@ 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;