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; }