Make intaking faster and give us more range
Change-Id: Ie719c36c7318e03f8c2cfce9a3dd3b411aad8ec0
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
diff --git a/y2023/constants.h b/y2023/constants.h
index 6494953..9cb851b 100644
--- a/y2023/constants.h
+++ b/y2023/constants.h
@@ -136,14 +136,14 @@
.lower_hard = -0.10, // Back Hard
.upper_hard = 2.30, // Front Hard
.lower = 0.0, // Back Soft
- .upper = 2.0, // Front Soft
+ .upper = 2.2, // Front Soft
};
}
// Rollers
static constexpr double kRollerSupplyCurrentLimit() { return 30.0; }
static constexpr double kRollerStatorCurrentLimit() { return 100.0; }
- static constexpr double kRollerVoltage() { return 6.0; }
+ static constexpr double kRollerVoltage() { return 12.0; }
// Game object is fed into end effector for at least this time
static constexpr std::chrono::milliseconds kExtraIntakingTime() {