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stupid
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carokhan committed Oct 10, 2024
1 parent c4fb9b0 commit 5f749d7
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Showing 3 changed files with 3 additions and 2 deletions.
1 change: 1 addition & 0 deletions src/main/java/frc/robot/Constants.java
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Expand Up @@ -272,6 +272,7 @@ public static class ShooterConstants {
public static final double pivotOffset = 0.0;
public static final double simOffset = 0.19;
public static final double pivotTolerance = 0.01;
public static final double stallTimeout = 0.0;

public static final double down = 0.01;
public static final double up = down + Math.PI/4;
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2 changes: 1 addition & 1 deletion src/main/java/frc/robot/subsystems/pivot2/PivotIOSim.java
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Expand Up @@ -16,7 +16,7 @@

public class PivotIOSim implements PivotIO {
private SingleJointedArmSim pivotSim = new SingleJointedArmSim(DCMotor.getNEO(1), ShooterConstants.pivotRatio, ShooterConstants.pivotMOI, ShooterConstants.pivotLength, ShooterConstants.down, ShooterConstants.up, true, ShooterConstants.down);
private Debouncer stallDebouncer = new Debouncer(0.2, DebounceType.kRising);
private Debouncer stallDebouncer = new Debouncer(ShooterConstants.stallTimeout, DebounceType.kRising);

@Override
public void processInputs(PivotIOInputsAutoLogged inputs) {
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Expand Up @@ -27,7 +27,7 @@ public class PivotIOSparkMax implements PivotIO {
private final RelativeEncoder pivotEnc = pivot.getEncoder();
private final ThroughboreEncoder pivotAbs;

private Debouncer stallDebouncer = new Debouncer(0.2, DebounceType.kRising);
private Debouncer stallDebouncer = new Debouncer(ShooterConstants.stallTimeout, DebounceType.kRising);

public PivotIOSparkMax() {
pivot.restoreFactoryDefaults();
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