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Minor cleanup on subsystems.

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Titan Robotics Club
2025-05-05 00:53:14 -07:00
parent 7c20f1d1f3
commit e63ba1a457
2 changed files with 3 additions and 2 deletions
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4
TeamCode/src/main/java/teamcode/subsystems/Arm.java
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@ -62,7 +62,6 @@ public class Arm extends TrcSubsystem
public static final double POS_PRESET_TOLERANCE = 10.0;
public static final boolean SOFTWARE_PID_ENABLED = true;
public static final boolean SQUID_ENABLED = false;
public static final TrcPidController.PidCoefficients posPidCoeffs =
new TrcPidController.PidCoefficients(0.018, 0.1, 0.001, 0.0, 2.0);
public static final double POS_PID_TOLERANCE = 1.0;
@ -91,10 +90,11 @@ public class Arm extends TrcSubsystem
.setPositionPresets(Params.POS_PRESET_TOLERANCE, Params.posPresets);
motor = new FtcMotorActuator(motorParams).getMotor();
motor.setPositionPidParameters(
Params.posPidCoeffs, null, Params.POS_PID_TOLERANCE, Params.SOFTWARE_PID_ENABLED, Params.SQUID_ENABLED);
Params.posPidCoeffs, Params.POS_PID_TOLERANCE, Params.SOFTWARE_PID_ENABLED);
motor.setPositionPidPowerComp(this::getGravityComp);
motor.setStallProtection(
Params.STALL_MIN_POWER, Params.STALL_TOLERANCE, Params.STALL_TIMEOUT, Params.STALL_RESET_TIMEOUT);
motor.setSoftPositionLimits(Params.MIN_POS, Params.MAX_POS, false);
} //Arm
/**

1
TeamCode/src/main/java/teamcode/subsystems/Elevator.java
View File

@ -96,6 +96,7 @@ public class Elevator extends TrcSubsystem
motor.setPositionPidParameters(
Params.posPidCoeffs, Params.POS_PID_TOLERANCE, Params.SOFTWARE_PID_ENABLED);
motor.setPositionPidPowerComp(this::getGravityComp);
motor.setSoftPositionLimits(Params.MIN_POS, Params.MAX_POS, false);
} //Elevator
/**