Elevator #11
Elevator #11
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…lemented moveArm method
| public static final double TICKS_PER_INCH = TICKS_PER_REV*GEAR_RATIO/WHEEL_DIAMETER/Math.PI; //talonfx drive encoder | ||
| public static final double ELEVATOR_GEAR_RATIO = 25.0; // 25 motor spins for 1 shaft spin | ||
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| public static final double TICKS_PER_INCH = (TICKS_PER_REV*ELEVATOR_GEAR_RATIO)/(ELEVATOR_SPROCKET_DIAMETER*Math.PI); //talonfx drive encoder |
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You might want to specify in the variable name that this is ticks per inch for the elevator. Otherwise we might accidentally use this for one of the other subsystems.
| /*public class Robot extends TimedRobot { | ||
| private static final String kDefaultAuto = "Default"; | ||
| private static final String kCustomAuto = "My Auto"; | ||
| private String m_autoSelected; | ||
| private final SendableChooser<String> m_chooser = new SendableChooser<>(); | ||
| //private final AutonomousBase autonomousBasePD = new AutonomousBasePD(new Pose2d(0*Constants.TICKS_PER_INCH, -20*Constants.TICKS_PER_INCH, new Rotation2d(0)), 0.0, new Pose2d(), 0.0); | ||
| public static final DrivetrainSubsystem m_drivetrainSubsystem = new DrivetrainSubsystem(); | ||
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| */ |
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Why is this commented out? Can we delete it?
| @@ -1,146 +0,0 @@ | |||
| package frc.robot.autonomous; | |||
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Just double checking that it was intentional to delete this file
| new Translation2d(1.2, 0.0), | ||
| new Translation2d(1.4, 0.0) | ||
| ); | ||
| // public static Trajectory uno = AutonomousBaseMP.generateTrajectory( |
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Why is this commented out? Is it needed anymore?
| VideoSink server; | ||
| /*int aprilTagIds[]; | ||
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| float decisionMargin[]; |
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Delete any of these that aren't needed anymore instead of commenting them out
| // desiredTicks = (desiredInches-2) * Constants.OVER_TWO_TICKS_PER_INCH; | ||
| // } | ||
| // } | ||
| public void telescopeDeadband(){ |
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This would be cleaner if this method took desiredTicks as an argument instead of having it as a class variable.
| double milliTime = time * 1000; | ||
| System.out.println("milli time: " + milliTime); | ||
| if(forwards == true){ | ||
| while(System.currentTimeMillis() - startTime <= milliTime){ |
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While loops are scary and usually bad for robot code. This will block everything else until this amount of time has passed which will likely mess up other things. Instead this should be:
if(System.currentTimeMillis() - startTime <= milliTime) {
set(0.2)
} else {
set(0)
}
| public void scoreLow(){ | ||
| elevatorSubsystem.setState(ElevatorStates.LOW_ELEVATOR_HEIGHT); | ||
| armTelescopingSubsystem.setTState(TelescopingStates.LOW_ARM_LENGTH); | ||
| } | ||
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| public void scoreMid(){ | ||
| elevatorSubsystem.setState(ElevatorStates.MID_ELEVATOR_HEIGHT); | ||
| armTelescopingSubsystem.setTState(TelescopingStates.MID_ARM_LENGTH); | ||
| } | ||
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| public void scoreHigh(){ | ||
| elevatorSubsystem.setState(ElevatorStates.HIGH_ELEVATOR_HEIGHT); | ||
| armTelescopingSubsystem.setTState(TelescopingStates.HIGH_ARM_LENGTH); | ||
| } |
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Do these belong in DrivetrainSubsystem? They seem unrelated to the drivetrain.
| public double _kP = 0.05; | ||
| public double _kI = 0.0; | ||
| public double _kD = 0.0; | ||
| public int _kIzone = 0; | ||
| public double _kPeakOutput = 1.0; | ||
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| public static TalonFX elevatorMotor = new TalonFX(Constants.ELEVATOR_CAN_ID); | ||
| public static ElevatorStates elevatorState = ElevatorStates.LOW_ELEVATOR_HEIGHT; | ||
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| // DigitalInput top_limit_switch = new DigitalInput(Constants.topLimitSwitchPort); | ||
| // DigitalInput bottom_limit_switch = new DigitalInput(Constants.bottomLimitSwitchPort); | ||
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| public Gains elevatorGains = new Gains(_kP, _kI, _kD, _kIzone, _kPeakOutput); |
| elevatorMotor.config_kP(Constants.kPIDLoopIdx, elevatorGains.kP, Constants.kTimeoutMs); | ||
| elevatorMotor.config_kI(Constants.kPIDLoopIdx, elevatorGains.kI, Constants.kTimeoutMs); | ||
| elevatorMotor.config_kD(Constants.kPIDLoopIdx, elevatorGains.kD, Constants.kTimeoutMs); |
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Small thing but why are these lines indented?
No description provided.