Changed code so the pivot doesn't use the second pidgeon for its angl…

…e, slowed down the pivot speed, and took out the elevator motors.
hammerhead226 · Dec 11, 2024 · 126bd62 · 126bd62
1 parent 5ea1d10
commit 126bd62
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Showing 4 changed files with 10 additions and 10 deletions.
diff --git a/src/main/java/frc/robot/BuildConstants.java b/src/main/java/frc/robot/BuildConstants.java
@@ -5,12 +5,12 @@ public final class BuildConstants {
   public static final String MAVEN_GROUP = "";
   public static final String MAVEN_NAME = "2024RobotCode";
   public static final String VERSION = "unspecified";
-  public static final int GIT_REVISION = 359;
-  public static final String GIT_SHA = "63bb3dfb36a7832c8a2307fcd5c600c2f33b9732";
-  public static final String GIT_DATE = "2024-12-06 17:07:04 EST";
+  public static final int GIT_REVISION = 360;
+  public static final String GIT_SHA = "5ea1d107d8bc7bc526833625520f24fec69e2fc5";
+  public static final String GIT_DATE = "2024-12-06 17:46:15 EST";
   public static final String GIT_BRANCH = "tk-demo-mode";
-  public static final String BUILD_DATE = "2024-12-06 17:41:26 EST";
-  public static final long BUILD_UNIX_TIME = 1733524886836L;
+  public static final String BUILD_DATE = "2024-12-10 19:18:17 EST";
+  public static final long BUILD_UNIX_TIME = 1733876297617L;
   public static final int DIRTY = 1;
 
   private BuildConstants() {}

diff --git a/src/main/java/frc/robot/RobotMap.java b/src/main/java/frc/robot/RobotMap.java
@@ -14,8 +14,8 @@ public static class ShooterIDs {
   public static class ElevatorIDs {
     // public static final int LEFT = 8;
     // public static final int RIGHT = 9;
-    public static final int LEFT = 8;
-    public static final int RIGHT = 9;
+    public static final int LEFT = 40946;
+    public static final int RIGHT = 95094;
     public static final int BAR = 18;
   }
 

diff --git a/src/main/java/frc/robot/subsystems/pivot/Pivot.java b/src/main/java/frc/robot/subsystems/pivot/Pivot.java
@@ -70,8 +70,8 @@ public Pivot(PivotIO pivot) {
 
     shootState = SHOOT_STATE.AIMBOT;
 
-    maxVelocityDegPerSec = 150;
-    maxAccelerationDegPerSecSquared = 226;
+    maxVelocityDegPerSec = 50;
+    maxAccelerationDegPerSecSquared = 80;
     // maxAccelerationDegPerSecSquared = 180;
 
     pivotConstraints =

diff --git a/src/main/java/frc/robot/subsystems/pivot/PivotIOTalonFX.java b/src/main/java/frc/robot/subsystems/pivot/PivotIOTalonFX.java
@@ -50,7 +50,7 @@ public PivotIOTalonFX(int leadID, int followID, int gyroID) {
 
     pitch = pigeon.getRoll();
 
-    startAngleDegs = pitch.getValueAsDouble();
+    startAngleDegs = 95.65 - 59;
 
     leader.setPosition(
         Conversions.degreesToFalcon(startAngleDegs, Constants.PivotConstants.REDUCTION));