Set limits and ports
Change-Id: Idbcb218d05e637d8b31e2d9a7541c440c9a046ea
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
diff --git a/y2022/constants.h b/y2022/constants.h
index 4c02af7..b1565e6 100644
--- a/y2022/constants.h
+++ b/y2022/constants.h
@@ -90,10 +90,10 @@
// TODO (Yash): Constants need to be tuned
static constexpr ::frc971::constants::Range kIntakeRange() {
return ::frc971::constants::Range{
- .lower_hard = -0.5, // Back Hard
- .upper_hard = 2.85 + 0.05, // Front Hard
- .lower = -0.300, // Back Soft
- .upper = 2.725 // Front Soft
+ .lower_hard = -0.85, // Back Hard
+ .upper_hard = 1.85, // Front Hard
+ .lower = -0.400, // Back Soft
+ .upper = 1.57 // Front Soft
};
}
@@ -158,7 +158,7 @@
// Voltage to open the flippers for firing
static constexpr double kFlipperOpenVoltage() { return 3.0; }
// Voltage to keep the flippers open for firing once they already are
- static constexpr double kFlipperHoldVoltage() { return 2.0; }
+ static constexpr double kFlipperHoldVoltage() { return 2.5; }
// Voltage to feed a ball from the transfer rollers to the catpult with the
// flippers
static constexpr double kFlipperFeedVoltage() { return -8.0; }
@@ -186,13 +186,13 @@
// TODO: (Griffin) this needs to be set
static constexpr ::frc971::constants::Range kFlipperArmRange() {
return ::frc971::constants::Range{
- .lower_hard = -0.01, .upper_hard = 0.6, .lower = 0.0, .upper = 0.5};
+ .lower_hard = -0.01, .upper_hard = 0.4, .lower = 0.0, .upper = 0.5};
}
// Position of the flippers when they are open
- static constexpr double kFlipperOpenPosition() { return 0.4; }
+ static constexpr double kFlipperOpenPosition() { return 0.15; }
// If the flippers were open but now moved back, reseat the ball if they go
// below this position
- static constexpr double kReseatFlipperPosition() { return 0.3; }
+ static constexpr double kReseatFlipperPosition() { return 0.1; }
static constexpr double kFlipperArmsPotRatio() { return 16.0 / 36.0; }
diff --git a/y2022/control_loops/superstructure/collision_avoidance.h b/y2022/control_loops/superstructure/collision_avoidance.h
index ec7ce6f..a64bbd3 100644
--- a/y2022/control_loops/superstructure/collision_avoidance.h
+++ b/y2022/control_loops/superstructure/collision_avoidance.h
@@ -53,7 +53,7 @@
static constexpr double kMaxCollisionZoneBackTurret = kCollisionZoneTurret;
// Maximum position of the intake to avoid collisions
- static constexpr double kCollisionZoneIntake = M_PI / 6.0;
+ static constexpr double kCollisionZoneIntake = 1.4;
// Tolerance for the turret.
static constexpr double kEpsTurret = 0.05;
diff --git a/y2022/wpilib_interface.cc b/y2022/wpilib_interface.cc
index bf5cfda..acc9fdd 100644
--- a/y2022/wpilib_interface.cc
+++ b/y2022/wpilib_interface.cc
@@ -438,10 +438,6 @@
catapult_falcon_1_ = ::std::move(t);
}
- void set_catapult_falcon_2(::std::unique_ptr<::frc::TalonFX> t) {
- catapult_falcon_2_ = ::std::move(t);
- }
-
void set_intake_falcon_front(::std::unique_ptr<frc::TalonFX> t) {
intake_falcon_front_ = ::std::move(t);
}
@@ -506,7 +502,6 @@
intake_falcon_back_->SetDisabled();
transfer_roller_victor_->SetDisabled();
catapult_falcon_1_->SetDisabled();
- catapult_falcon_2_->SetDisabled();
turret_falcon_->SetDisabled();
}
@@ -519,12 +514,11 @@
WriteCan(output.roller_voltage_back(), roller_falcon_back_.get());
WritePwm(output.transfer_roller_voltage(), transfer_roller_victor_.get());
- WriteCan(output.flipper_arms_voltage(), flipper_arms_falcon_.get());
+ WriteCan(-output.flipper_arms_voltage(), flipper_arms_falcon_.get());
WritePwm(output.catapult_voltage(), catapult_falcon_1_.get());
- WritePwm(output.catapult_voltage(), catapult_falcon_2_.get());
- WritePwm(output.turret_voltage(), turret_falcon_.get());
+ WritePwm(-output.turret_voltage(), turret_falcon_.get());
}
static void WriteCan(const double voltage,
@@ -549,7 +543,7 @@
flipper_arms_falcon_;
::std::unique_ptr<::frc::TalonFX> turret_falcon_, catapult_falcon_1_,
- catapult_falcon_2_, climber_falcon_;
+ climber_falcon_;
::std::unique_ptr<::frc::VictorSP> transfer_roller_victor_;
};
@@ -680,25 +674,22 @@
SuperstructureWriter superstructure_writer(&output_event_loop);
superstructure_writer.set_turret_falcon(make_unique<::frc::TalonFX>(3));
- // TODO(milind): correct CAN ports
superstructure_writer.set_roller_falcon_front(
make_unique<::ctre::phoenix::motorcontrol::can::TalonFX>(0));
superstructure_writer.set_roller_falcon_back(
make_unique<::ctre::phoenix::motorcontrol::can::TalonFX>(1));
+
// TODO(milind): correct port
superstructure_writer.set_transfer_roller_victor(
make_unique<::frc::VictorSP>(5));
+
superstructure_writer.set_intake_falcon_front(make_unique<frc::TalonFX>(2));
superstructure_writer.set_intake_falcon_back(make_unique<frc::TalonFX>(4));
- // TODO(milind): correct port
- superstructure_writer.set_climber_falcon(make_unique<frc::TalonFX>(6));
- // TODO(milind): correct CAN port
+ superstructure_writer.set_climber_falcon(make_unique<frc::TalonFX>(8));
superstructure_writer.set_flipper_arms_falcon(
make_unique<::ctre::phoenix::motorcontrol::can::TalonFX>(2));
- // TODO(milind): correct ports
- superstructure_writer.set_catapult_falcon_1(make_unique<::frc::TalonFX>(7));
- superstructure_writer.set_catapult_falcon_2(make_unique<::frc::TalonFX>(8));
+ superstructure_writer.set_catapult_falcon_1(make_unique<::frc::TalonFX>(9));
AddLoop(&output_event_loop);