Clackamas Time

SteelRidgeRobotics · Feb 29, 2024 · ae20c26 · ae20c26
1 parent c9fe6f9
commit ae20c26
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Showing 3 changed files with 6 additions and 5 deletions.
diff --git a/constants.py b/constants.py
@@ -41,9 +41,9 @@ class PivotConstants:
     GEAR_RATIO = 50
 
 class ElevatorConstants:
-    CURRENTSUPPLYLIMIT = 4
-    TOPPOSITION = 115.855 - 6 # -6 to account for motors "letting up" after calibrating
-    BOTTOMPOSITION = -6
+    CURRENTSUPPLYLIMIT = 40
+    TOPPOSITION = -115.855 + 6 # 6 to account for motors "letting up" after calibrating
+    BOTTOMPOSITION = 6
     MM_ACCEL = 100
     MM_VEL = 100
 
@@ -64,6 +64,7 @@ class SwerveConstants:
     k_drive_base_radius = 0.43 # meters
     auto_kP_translation = 7
     auto_kP_rotation = 4
+    auto_kD_rotation = 0
 
 class DriveMotorConstants:
 

diff --git a/subsystems/intake.py b/subsystems/intake.py
@@ -26,7 +26,7 @@ def __init__(self):
         pivot_config.motion_magic.with_motion_magic_acceleration(PivotConstants.MM_ACCELERATION).with_motion_magic_cruise_velocity(PivotConstants.MM_CRUISE_VEL)
         self.pivotMotor.configurator.apply(pivot_config)
 
-        self.intakeMotor.set_position(0)
+        self.intakeMotor.set_position(0.026)
 
         self.has_note = False
 

diff --git a/subsystems/swerve.py b/subsystems/swerve.py
@@ -134,7 +134,7 @@ def __init__(self):
                 lambda chassisSpeed: self.robot_centric_drive(chassisSpeed),
                 HolonomicPathFollowerConfig(
                     PIDConstants(SwerveConstants.auto_kP_translation, 0.0, 0.0, 0.0), # translation
-                    PIDConstants(SwerveConstants.auto_kP_rotation, 0.0, 0.0, 0.0), # rotation
+                    PIDConstants(SwerveConstants.auto_kP_rotation, 0.0, SwerveConstants.auto_kD_rotation, 0.0), # rotation
                     SwerveConstants.k_max_module_speed,
                     SwerveConstants.k_drive_base_radius,
                     ReplanningConfig()