From e63ba1a4576506c0adc37a7ca96fd9abc5babc8d Mon Sep 17 00:00:00 2001 From: Titan Robotics Club Date: Mon, 5 May 2025 00:53:14 -0700 Subject: [PATCH] Minor cleanup on subsystems. --- TeamCode/src/main/java/teamcode/subsystems/Arm.java | 4 ++-- TeamCode/src/main/java/teamcode/subsystems/Elevator.java | 1 + 2 files changed, 3 insertions(+), 2 deletions(-) diff --git a/TeamCode/src/main/java/teamcode/subsystems/Arm.java b/TeamCode/src/main/java/teamcode/subsystems/Arm.java index b6233d2..06da604 100644 --- a/TeamCode/src/main/java/teamcode/subsystems/Arm.java +++ b/TeamCode/src/main/java/teamcode/subsystems/Arm.java @@ -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 /** diff --git a/TeamCode/src/main/java/teamcode/subsystems/Elevator.java b/TeamCode/src/main/java/teamcode/subsystems/Elevator.java index 49ba6a8..a772c6a 100644 --- a/TeamCode/src/main/java/teamcode/subsystems/Elevator.java +++ b/TeamCode/src/main/java/teamcode/subsystems/Elevator.java @@ -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 /**