Add climber servo code
Used for traversing to high bar.
Signed-off-by: Milind Upadhyay <milind.upadhyay@gmail.com>
Change-Id: I333c581c33aab3f2d960db8452b5b1783aab9a5a
diff --git a/y2022/constants.h b/y2022/constants.h
index 31f8a0c..4b5351e 100644
--- a/y2022/constants.h
+++ b/y2022/constants.h
@@ -45,7 +45,7 @@
// Climber
static constexpr ::frc971::constants::Range kClimberRange() {
return ::frc971::constants::Range{
- .lower_hard = -0.01, .upper_hard = 0.55, .lower = 0.005, .upper = 0.48};
+ .lower_hard = -0.01, .upper_hard = 0.59, .lower = 0.003, .upper = 0.555};
}
static constexpr double kClimberPotMetersPerRevolution() {
return 22 * 0.25 * 0.0254;
@@ -114,9 +114,9 @@
static constexpr ::frc971::constants::Range kTurretRange() {
return ::frc971::constants::Range{
.lower_hard = -7.0, // Back Hard
- .upper_hard = 3.0, // Front Hard
+ .upper_hard = 3.4, // Front Hard
.lower = -6.5, // Back Soft
- .upper = 2.5 // Front Soft
+ .upper = 3.15 // Front Soft
};
}