Tune up the catapult state machine to work
This now holds the ball in the intake, and will transfer it when the
turret is in position.
Change-Id: I2e9aa11cae014b56679edaeb9f71a7c32664094c
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
Signed-off-by: Milind Upadhyay <milind.upadhyay@gmail.com>
diff --git a/y2022/constants.h b/y2022/constants.h
index 5b8fe64..867f239 100644
--- a/y2022/constants.h
+++ b/y2022/constants.h
@@ -116,7 +116,7 @@
}
// Voltage to wiggle the transfer rollers and keep a ball in.
- static constexpr double kTransferRollerFrontWiggleVoltage() { return 5.0; }
+ static constexpr double kTransferRollerFrontWiggleVoltage() { return 3.0; }
static constexpr double kTransferRollerBackWiggleVoltage() {
return -kTransferRollerFrontWiggleVoltage();
}
@@ -138,8 +138,8 @@
};
}
- static constexpr double kTurretBackIntakePos() { return 0.0; }
- static constexpr double kTurretFrontIntakePos() { return M_PI; }
+ static constexpr double kTurretBackIntakePos() { return M_PI; }
+ static constexpr double kTurretFrontIntakePos() { return 0; }
static constexpr double kTurretPotRatio() { return 27.0 / 110.0; }
static constexpr double kTurretEncoderRatio() { return kTurretPotRatio(); }
@@ -161,7 +161,7 @@
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; }
+ static constexpr double kFlipperFeedVoltage() { return -12.0; }
// Ball is fed into catapult for atleast this time no matter what
static constexpr std::chrono::milliseconds kExtraLoadingTime() {
@@ -218,9 +218,9 @@
}
static constexpr ::frc971::constants::Range kCatapultRange() {
return ::frc971::constants::Range{
- .lower_hard = -1.2,
+ .lower_hard = -1.0,
.upper_hard = 2.0,
- .lower = -1.00,
+ .lower = -0.90,
.upper = 1.57,
};
}