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Storm surge #91
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Storm surge #91
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rezetta15
reviewed
Oct 30, 2024
| @@ -196,7 +198,9 @@ object Shooter { | |||
| val encoderConnected get() = inputs.absoluteEncoderConnected | |||
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| override fun periodic() { | |||
| val currentZero = zeroPos.getDouble(PivotIOKraken.ABSOLUTE_ENCODER_OFFSET.radians) | |||
| numTicks++ | |||
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assert(numTicks <= 20 && numTicks >=0)
rezetta15
reviewed
Oct 30, 2024
| @@ -264,7 +263,7 @@ class PivotIOKraken : PivotIO { | |||
| const val PROFILE_JERK = 80.0 | |||
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| val HARDSTOP_OFFSET: Rotation2d = Rotation2d.fromDegrees(-27.0) | |||
| val ABSOLUTE_ENCODER_OFFSET: Rotation2d = Rotation2d.fromDegrees(229.5) + HARDSTOP_OFFSET | |||
| val ABSOLUTE_ENCODER_OFFSET: Rotation2d = Rotation2d.fromDegrees(343.3) + HARDSTOP_OFFSET | |||
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where the hell did 343.3 come from? Explain in comment.
rezetta15
reviewed
Oct 30, 2024
| @@ -47,7 +46,7 @@ object Drivetrain : Subsystem, TalonFXStatusProvider { | |||
| /** Unit: Percent of max robot speed */ | |||
| private const val TRANSLATION_SENSITIVITY = 1.0 | |||
| /** Unit: Rotations per second */ | |||
| private const val ROTATION_SENSITIVITY = 0.9 | |||
| private const val ROTATION_SENSITIVITY = 1.25 | |||
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1.25 comes from getting joystick control that felt good to Calvin. Note this.
rezetta15
reviewed
Oct 30, 2024
| .whileTrue( | ||
| Shooter.Flywheels.intake() | ||
| ) | ||
| // Trigger(joystickLeft::getTrigger) |
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We can delete this, right?
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