Third robot end effector
Signed-off-by: Logan Isaacson <100030671@mvla.net>
Change-Id: Iba7b08c0ecd5828542ef769d7a85cd0f3737f5bf
diff --git a/y2023_bot3/constants.h b/y2023_bot3/constants.h
index a741f3c..500b836 100644
--- a/y2023_bot3/constants.h
+++ b/y2023_bot3/constants.h
@@ -39,6 +39,12 @@
static constexpr double kDrivetrainSupplyCurrentLimit() { return 35.0; }
static constexpr double kDrivetrainStatorCurrentLimit() { return 60.0; }
+ // timeout to ensure code doesn't get stuck after releasing the "intake"
+ // button
+ static constexpr std::chrono::milliseconds kExtraIntakingTime() {
+ return std::chrono::milliseconds{100};
+ }
+
static double DrivetrainEncoderToMeters(int32_t in) {
return ((static_cast<double>(in) /
kDrivetrainEncoderCountsPerRevolution()) *