updates from Dripping Springs

Spectrum3847 · Mar 8, 2022 · f05f250 · f05f250
1 parent 49de5f4
commit f05f250
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Showing 4 changed files with 8 additions and 9 deletions.
diff --git a/.gradle/file-system.probe b/.gradle/file-system.probe
diff --git a/src/main/java/frc/robot/constants/AutonConstants.java b/src/main/java/frc/robot/constants/AutonConstants.java
@@ -3,7 +3,7 @@
 import edu.wpi.first.math.trajectory.TrapezoidProfile;
 
 public final class AutonConstants {
-    public static final double pos1angle = 92;
+    public static final double pos1angle = 160;
     public static final double pos2angle = 120;
     public static final double pos3angle = 270;
 

diff --git a/src/main/java/frc/robot/constants/ClimberConstants.java b/src/main/java/frc/robot/constants/ClimberConstants.java
@@ -14,7 +14,7 @@
 public final class ClimberConstants{
     public static final String name = "Climber";
 
-    public static final int fullExtend = 112000;
+    public static final int fullExtend = 118000;
     public static final int nextRungExtend = 98000;
     public static final int fullRetract = -2000;
 
@@ -52,15 +52,15 @@ public final class ClimberConstants{
     public static final double motionAcceleration = 20000;
 
     /* Current Limiting */
-    public static final int currentLimit = 30;
-    public static final int tirggerThresholdLimit = 35;
-    public static final double PeakCurrentDuration = 0.3;
+    public static final int currentLimit = 40;
+    public static final int tirggerThresholdLimit = 40;
+    public static final double PeakCurrentDuration = 0.5;
     public static final boolean EnableCurrentLimit = true;
     public static final SupplyCurrentLimitConfiguration supplyLimit = new SupplyCurrentLimitConfiguration(
         EnableCurrentLimit, currentLimit, tirggerThresholdLimit, PeakCurrentDuration);
 
-    public static final StatorCurrentLimitConfiguration statorLimit = new StatorCurrentLimitConfiguration(
-        EnableCurrentLimit, currentLimit, tirggerThresholdLimit, PeakCurrentDuration);
+    /*public static final StatorCurrentLimitConfiguration statorLimit = new StatorCurrentLimitConfiguration(
+        EnableCurrentLimit, currentLimit, tirggerThresholdLimit, PeakCurrentDuration);*/
 
     /* Voltage Compensation */
     public static final double voltageCompSaturation = 12;
@@ -88,7 +88,6 @@ private ClimberConstants(){
         config.motionAcceleration = motionAcceleration;
 
         config.supplyCurrLimit = supplyLimit;
-        config.statorCurrLimit = statorLimit;
         config.openloopRamp = openLoopRamp;
         config.closedloopRamp = closedLoopRamp;
         config.voltageCompSaturation = voltageCompSaturation;

diff --git a/src/main/java/frc/robot/subsystems/Climber.java b/src/main/java/frc/robot/subsystems/Climber.java
@@ -22,10 +22,10 @@ public Climber() {
         setName(ClimberConstants.name);
         motorLeader = new WPI_TalonFX(CanIDs.kClimberMotorLeft, Constants.Canivorename);
         ClimberConstants.setupFalconLeader(motorLeader);
-
         motorFollower = new WPI_TalonFX(CanIDs.kClimberMotorRight, Constants.Canivorename);
         ClimberConstants.setupFalconFollower(motorFollower, motorLeader);
 
+
         resetEncoder();
         motorLeader.configForwardSoftLimitThreshold(ClimberConstants.fullExtend);
         motorLeader.configForwardSoftLimitEnable(false);