finish tuning for amp

team4099 · Mar 8, 2024 · 9c7dbe2 · 9c7dbe2
1 parent 809935a
commit 9c7dbe2
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Showing 5 changed files with 7 additions and 6 deletions.
diff --git a/src/main/kotlin/com/team4099/robot2023/config/constants/ElevatorConstants.kt b/src/main/kotlin/com/team4099/robot2023/config/constants/ElevatorConstants.kt
@@ -49,7 +49,7 @@ object ElevatorConstants {
   val ELEVATOR_OPEN_LOOP_RETRACT_VOLTAGE = -12.0.volts
 
   val ENABLE_ELEVATOR = true
-  val ELEVATOR_IDLE_HEIGHT = 0.5.inches
+  val ELEVATOR_IDLE_HEIGHT = 0.25.inches
   val ELEVATOR_SOFT_LIMIT_EXTENSION = 17.5.inches
   val ELEVATOR_SOFT_LIMIT_RETRACTION = 0.5.inches
   val ELEVATOR_OPEN_LOOP_SOFT_LIMIT_EXTENSION = 0.0.inches
@@ -67,7 +67,7 @@ object ElevatorConstants {
 
   //week 1 amp amgle
   //val SHOOT_AMP_POSITION = 17.0.degrees
-  val SHOOT_AMP_POSITION = 14.0.inches
+  val SHOOT_AMP_POSITION = 16.0.inches
   val SOURCE_NOTE_OFFSET = 0.0.inches
   val ELEVATOR_THETA_POS = 0.0.degrees
   val HOMING_STATOR_CURRENT = 3.0.amps

diff --git a/src/main/kotlin/com/team4099/robot2023/config/constants/FeederConstants.kt b/src/main/kotlin/com/team4099/robot2023/config/constants/FeederConstants.kt
@@ -26,7 +26,7 @@ object FeederConstants {
   var WAIT_BEFORE_DETECT_VELOCITY_DROP = 0.5.seconds
 
   val IDLE_VOLTAGE = 0.volts
-  val INTAKE_NOTE_VOLTAGE = 1.volts
+  val INTAKE_NOTE_VOLTAGE = 1.5.volts
   val AUTO_INTAKE_NOTE_VOLTAGE = 1.volts
 
   val SHOOT_NOTE_VOLTAGE = 2.volts

diff --git a/src/main/kotlin/com/team4099/robot2023/config/constants/IntakeConstants.kt b/src/main/kotlin/com/team4099/robot2023/config/constants/IntakeConstants.kt
@@ -27,7 +27,7 @@ object IntakeConstants {
 
   val IDLE_CENTER_WHEEL_VOLTAGE = 0.0.volts
   val INTAKE_ROLLER_VOLTAGE = -12.volts
-  val INTAKE_CENTER_WHEEL_VOLTAGE = -9.volts
+  val INTAKE_CENTER_WHEEL_VOLTAGE = -12.volts
   val OUTTAKE_ROLLER_VOLTAGE = (10).volts
   val OUTTAKE_CENTER_WHEEL_VOLTAGE = (10).volts
 }
diff --git a/src/main/kotlin/com/team4099/robot2023/config/constants/WristConstants.kt b/src/main/kotlin/com/team4099/robot2023/config/constants/WristConstants.kt
@@ -75,7 +75,7 @@ object WristConstants {
   val IDLE_ANGLE = (-35.0).degrees
   //week 1 amp amgle
   //val AMP_SCORE_ANGLE = -16.0.degrees
-  val AMP_SCORE_ANGLE = -7.0.degrees
+  val AMP_SCORE_ANGLE = -8.0.degrees
   val SUBWOOFER_SPEAKER_SHOT_ANGLE_LOW = -36.0.degrees
   val SUBWOOFER_SPEAKER_SHOT_ANGLE_MID = -7.5.degrees
   val SUBWOOFER_SPEAKER_SHOT_ANGLE_HIGH = -2.degrees

diff --git a/src/main/kotlin/com/team4099/robot2023/subsystems/superstructure/Superstructure.kt b/src/main/kotlin/com/team4099/robot2023/subsystems/superstructure/Superstructure.kt
@@ -301,7 +301,7 @@ class Superstructure(
         }
       }
       SuperstructureStates.GROUND_INTAKE_PREP -> {
-        wrist.currentRequest = Request.WristRequest.OpenLoop(-0.25.volts)
+        wrist.currentRequest = Request.WristRequest.TargetingPosition(Wrist.TunableWristStates.intakeAngle.get())
         if (wrist.isAtTargetedPosition) {
           nextState = SuperstructureStates.GROUND_INTAKE
         }
@@ -313,6 +313,7 @@ class Superstructure(
         }
       }
       SuperstructureStates.GROUND_INTAKE -> {
+        wrist.currentRequest = Request.WristRequest.OpenLoop(-0.5.volts)
         intake.currentRequest =
           Request.IntakeRequest.OpenLoop(
             Intake.TunableIntakeStates.intakeRollerVoltage.get(),