shooter state machine (control loop) and test are written and build. not tested for functionality
diff --git a/frc971/constants.cc b/frc971/constants.cc
index 7541f7c..f7363c6 100755
--- a/frc971/constants.cc
+++ b/frc971/constants.cc
@@ -55,9 +55,12 @@
kCompDrivetrainEncoderRatio,
kCompLowGearRatio,
kCompHighGearRatio,
+ // ShooterLimits
+ // TODO_ben: make these real numbers
+ {0.0, 100.0, {-3.0, 2.0}, {-1, 4.0}, {2.0, 7.0}},
shooter_voltage,
- shooter_lower_physical_limit,
- shooter_upper_physical_limit,
+ // shooter_total_length
+ 100.0,
shooter_hall_effect_start_position,
shooter_zeroing_off_speed,
shooter_zeroing_speed,
@@ -71,7 +74,6 @@
0.1,
0.0,
1.57,
-
{0.0, 2.05, {-0.1, 0.05}, {1.0, 1.1}, {2.0, 2.1}},
{0.0, 2.05, {-0.1, 0.05}, {1.0, 1.1}, {2.0, 2.1}},
0.02, // claw_unimportant_epsilon
@@ -83,9 +85,12 @@
kPracticeDrivetrainEncoderRatio,
kPracticeLowGearRatio,
kPracticeHighGearRatio,
+ // ShooterLimits
+ // TODO_ben: make these real numbers
+ {0.0, 100.0, {-3.0, 2.0}, {-1, 4.0}, {2.0, 7.0}},
shooter_voltage,
- shooter_lower_physical_limit,
- shooter_upper_physical_limit,
+ // shooter_total_length
+ 100.0,
shooter_hall_effect_start_position,
shooter_zeroing_off_speed,
shooter_zeroing_speed,