Removed arm from intake code

team4099 · Jan 13, 2024 · 4571cd4 · 4571cd4
1 parent e8d6008
commit 4571cd4
Show file tree

Hide file tree

Showing 3 changed files with 13 additions and 349 deletions.
diff --git a/src/main/kotlin/com/team4099/robot2023/config/constants/IntakeConstants.kt b/src/main/kotlin/com/team4099/robot2023/config/constants/IntakeConstants.kt
@@ -23,37 +23,6 @@ object IntakeConstants {
   const val ARM_GEAR_RATIO = ((60.0 / 12.0) * (80.0 / 18.0) * (32.0 / 16.0))
   const val ARM_ENCODER_GEAR_RATIO = 36.0 / 18.0
 
-  // TODO: Enter values
-  const val ENABLE_ARM = 0.0
-  const val ENABLE_ROTATION = 0.0
-  val INTAKE_ANGLE = 0.0.degrees
-  val OUTTAKE_ANGLE = 0.0.degrees
-  val STOWED_UP_ANGLE = 0.0.degrees
-  val STOWED_DOWN_ANGLE = 0.0.degrees
-  val INTAKE_VOLTAGE = 0.0.volts
-  val OUTTAKE_VOLTAGE = 0.0.volts
-  val NEUTRAL_VOLTAGE = 0.0.volts
-
-  val ARM_MAX_ROTATION = 0.0.degrees
-  val ARM_MIN_ROTATION = 0.0.degrees
-
-  val MAX_ARM_VELOCITY = 0.0.radians.perSecond
-  val MAX_ARM_ACCELERATION = 0.0.radians.perSecond.perSecond
-
-  val ARM_TOLERANCE = 0.0.radians
-
-  object PID {
-    val NEO_KP = 1.0.volts.perRadian
-    val NEO_KI = 1.0.volts.perRadianSeconds
-    val NEO_KD = 1.0.volts.perRadianPerSecond
-
-    val SIM_KP = 1.0.volts.perRadian
-    val SIM_KI = 1.0.volts.perRadianSeconds
-    val SIM_KD = 1.0.volts.perRadianPerSecond
-
-    val ARM_KS = 1.0.volts
-    val ARM_KG = 1.0.volts
-    val ARM_KV = 1.0.volts / 1.0.radians.perSecond
-    val ARM_KA = 1.0.volts / 1.0.radians.perSecond.perSecond
-  }
+  // TODO: Update value
+  val IDLE_ROLLER_VOLTAGE = 2.0.volts
 }