bit more tuning

team4099 · Jan 24, 2024 · 308fc8d · 308fc8d
1 parent d075a80
commit 308fc8d
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Showing 2 changed files with 9 additions and 9 deletions.
diff --git a/src/main/kotlin/com/team4099/robot2023/BuildConstants.kt b/src/main/kotlin/com/team4099/robot2023/BuildConstants.kt
@@ -6,10 +6,10 @@ package com.team4099.robot2023
 const val MAVEN_GROUP = ""
 const val MAVEN_NAME = "Crescendo-2024"
 const val VERSION = "unspecified"
-const val GIT_REVISION = 52
-const val GIT_SHA = "7c071041850824a24f844161f49b8016c9b1b145"
-const val GIT_DATE = "2024-01-23T18:32:44Z"
+const val GIT_REVISION = 53
+const val GIT_SHA = "d075a80c020aa3cd40bc5368148d5a6c2c73458a"
+const val GIT_DATE = "2024-01-23T20:30:14Z"
 const val GIT_BRANCH = "elevator"
-const val BUILD_DATE = "2024-01-23T20:24:59Z"
-const val BUILD_UNIX_TIME = 1706059499671L
+const val BUILD_DATE = "2024-01-23T20:50:22Z"
+const val BUILD_UNIX_TIME = 1706061022253L
 const val DIRTY = 1
diff --git a/src/main/kotlin/com/team4099/robot2023/config/constants/ElevatorConstants.kt b/src/main/kotlin/com/team4099/robot2023/config/constants/ElevatorConstants.kt
@@ -37,18 +37,18 @@ object ElevatorConstants {
   val FOLLOWER_KI: IntegralGain<Meter, Volt> = 0.0.volts / (1.inches * 1.seconds)
   val FOLLOWER_KD: DerivativeGain<Meter, Volt> = 0.0.volts / (1.inches.perSecond)
 
-  val SIM_KP = 2.0.volts / 1.inches
+  val SIM_KP = 3.0.volts / 1.inches
   val SIM_KI = 0.0.volts / (1.inches * 1.seconds)
   val SIM_KD = 0.0.volts / (1.inches.perSecond)
 
   val ELEVATOR_KS = 0.0.volts
-  val ELEVATOR_KG = 0.32.volts
+  val ELEVATOR_KG = 0.35.volts
   val ELEVATOR_KV = 0.39.volts / 1.inches.perSecond
   val ELEVATOR_KA = 0.00083.volts / 1.inches.perSecond.perSecond
   val ELEVATOR_OPEN_LOOP_EXTEND_VOLTAGE = 8.0.volts
   val ELEVATOR_OPEN_LOOP_RETRACT_VOLTAGE = -12.0.volts
 
-  val ENABLE_ELEVATOR = false
+  val ENABLE_ELEVATOR = true
   val ELEVATOR_IDLE_HEIGHT = 0.0.inches
   val ELEVATOR_SOFT_LIMIT_EXTENSION = 17.5.inches
   val ELEVATOR_SOFT_LIMIT_RETRACTION = -1.0.inches
@@ -60,7 +60,7 @@ object ElevatorConstants {
   val ELEVATOR_TOLERANCE = 0.2.inches
 
   val MAX_VELOCITY = 0.82.meters.perSecond
-  val MAX_ACCELERATION = 0.5.meters.perSecond.perSecond
+  val MAX_ACCELERATION = 2.meters.perSecond.perSecond
 
   val SHOOT_SPEAKER_POSITION = 0.0.inches
   val SHOOT_AMP_POSITION = 0.0.inches