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Added Trapezoidal Profile

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Mehooliu
2026-03-03 10:27:14 -05:00
parent 1b84701184
commit 670de7dd90
5 changed files with 275 additions and 159 deletions
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14
src/main/java/frc/robot/Constants.java
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@@ -128,9 +128,9 @@ public final class Constants {
public static final int INTAKE_ROTATOR_MOTOR_ID = 51;
public static class IntakeRotatorPID {
public static final double INTAKE_ROTATOR_P = 0.03;
public static final double INTAKE_ROTATOR_P = 10;
public static final double INTAKE_ROTATOR_I = 0;
public static final double INTAKE_ROTATOR_D = 0;
public static final double INTAKE_ROTATOR_D = 2;
}
public static final double INTAKE_MOTOR_P = 0.0001;
@@ -138,8 +138,13 @@ public final class Constants {
public static final double INTAKE_MOTOR_D = 0;
public static final double INTAKE_COLLECT_ENCODER_VALUE = 0;
public static final double INTAKE_MIDDLE_ENCODER_VALUE = -3;
public static final double INTAKE_MIDDLE_ENCODER_VALUE = -2.5;
public static final double INTAKE_RETRACT_ENCODER_VALUE = -5;
public static final double INTAKE_THROUGHBORE_ENCODER_DEPLOY = .26;
public static final double INTAKE_THROUGHBORE_ENCODER_RETRACT = .64;
public static final double INTAKE_THROUGHBORE_ENCODER_MIDDLE = .54;
}
// create object and a new widget under programming tab in Elastic where object
@@ -195,7 +200,8 @@ public final class Constants {
}
public static class LEDConstants {
public static final int LED_DIO_PORT = 0;
public static final int LED_PWM_PORT = 6;
}
}