Bringup progress
Here's how far I got bringing the robot up. Turret needs to be
re-calibrated again, it keeps slipping.
Change-Id: Idf8cb73973434cf9c64fd737852f1b3092b79c75
Signed-off-by: milind-u <milind.upadhyay@gmail.com>
diff --git a/y2022/constants.h b/y2022/constants.h
index 6d91083..494ca3d 100644
--- a/y2022/constants.h
+++ b/y2022/constants.h
@@ -152,8 +152,8 @@
}
// Flipper arms
- static constexpr double kFlipperArmSupplyCurrentLimit() { return 30.0; }
- static constexpr double kFlipperArmStatorCurrentLimit() { return 40.0; }
+ static constexpr double kFlipperArmSupplyCurrentLimit() { return 40.0; }
+ static constexpr double kFlipperArmStatorCurrentLimit() { return 60.0; }
// Voltage to open the flippers for firing
static constexpr double kFlipperOpenVoltage() { return 3.0; }
@@ -175,7 +175,7 @@
// If the flippers took more than this amount of time to open for firing,
// reseat the ball
static constexpr std::chrono::milliseconds kFlipperOpeningTimeout() {
- return std::chrono::milliseconds(250);
+ return std::chrono::milliseconds(1000);
}
// Don't use flipper velocity readings more than this amount of time in the
// past
@@ -220,7 +220,7 @@
return ::frc971::constants::Range{
.lower_hard = -1.0,
.upper_hard = 2.0,
- .lower = -0.90,
+ .lower = -0.91,
.upper = 1.57,
};
}