Add second transfer roller motor
Still use same behavior of always sending opposite voltages
Signed-off-by: Milind Upadhyay <milind.upadhyay@gmail.com>
Change-Id: If6bcf617db37b40924556d59dcfa23e7d43bdef1
diff --git a/y2022/constants.h b/y2022/constants.h
index 494ca3d..865a0e6 100644
--- a/y2022/constants.h
+++ b/y2022/constants.h
@@ -108,18 +108,11 @@
static constexpr double kIntakeRollerStatorCurrentLimit() { return 60.0; }
// Transfer rollers
- // Positive voltage means front transfer rollers pull in and back spits out,
- // and vice versa
- static constexpr double kTransferRollerFrontVoltage() { return 12.0; }
- static constexpr double kTransferRollerBackVoltage() {
- return -kTransferRollerFrontVoltage();
- }
+ static constexpr double kTransferRollerVoltage() { return 12.0; }
// Voltage to wiggle the transfer rollers and keep a ball in.
- static constexpr double kTransferRollerFrontWiggleVoltage() { return 3.0; }
- static constexpr double kTransferRollerBackWiggleVoltage() {
- return -kTransferRollerFrontWiggleVoltage();
- }
+ static constexpr double kTransferRollerWiggleVoltage() { return 3.0; }
+
// Minimum roller speed when the intake is slightly out
static constexpr double kMinIntakeSlightlyOutRollerSpeed() { return 6.0; }
// Roller speeds when intake is out