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Literally everything #12
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Co-authored-by: DaviTheDinosaur <[email protected]>
Co-authored-by: DaviTheDinosaur <[email protected]>
Co-authored-by: DaviTheDinosaur <[email protected]>
Co-authored-by: DaviTheDinosaur <[email protected]>
Co-authored-by: DaviTheDinosaur <[email protected]>
Co-authored-by: DaviTheDinosaur <[email protected]>
Co-authored-by: DaviTheDinosaur <[email protected]>
rutmanz
previously approved these changes
Dec 18, 2023
| @@ -71,7 +71,7 @@ public static class ShooterConstants { | |||
| public static final double KV = 0.113; | |||
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| public static final double ERROR_TOLERANCE_RPM = 30; | |||
| public static final double SHOOTER_ACTIVE_RPM = 3218; | |||
rutmanz
approved these changes
Dec 18, 2023
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| private final CommandXboxController xBoxController; | ||
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| private final SlewRateLimiter leftRateLimiter = new SlewRateLimiter(5); |
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0 to 100 in 1/5th of a second actually limits something?
| @Override | ||
| public void execute() { | ||
| Rotation2d turretSetpoint = Rotation2d.fromDegrees(limelight.getTx()).plus(turret.getPosition()); | ||
| if (limelight.getTv() && turret.isAtSetpoint()) turret.autoSetPosition(turretSetpoint); |
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why only updating setpoint if at last setpoint?
| @@ -36,8 +36,10 @@ public DrivetrainIOReal() { | |||
| backLeft.setSmartCurrentLimit(DrivetrainConstants.DRIVETRAIN_MOTOR_CURRENT_LIMIT); | |||
| backRight.setSmartCurrentLimit(DrivetrainConstants.DRIVETRAIN_MOTOR_CURRENT_LIMIT); | |||
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| frontLeft.enableVoltageCompensation(12); | |||
| frontRight.enableVoltageCompensation(12); | |||
| frontRight.disableVoltageCompensation(); | |||
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voltage compensation was an issue?
| private final PositionVoltage positionVoltage = new PositionVoltage(0).withSlot(0); | ||
| private final MotionMagicVoltage MMVoltage = new MotionMagicVoltage(0).withSlot(0); |
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MM acts like a position setpoint?
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Integrated all code, everything works except for autos which are untested, but they should also work with light testing