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changed pid values and presets

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This commit is contained in:
Adam Long 2016-09-24 15:10:36 +00:00
parent e0c78e71b4
commit 54ae1193cd
4 changed files with 4 additions and 4 deletions
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2
src/org/usfirst/frc/team2059/robot/RobotMap.java
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@ -29,7 +29,7 @@ public class RobotMap {
//Misc //Misc
public static int mainArmPresetCollect = -5; public static int mainArmPresetCollect = -5;
public static int mainArmPresetTraverse = 10; public static int mainArmPresetTraverse = 10;
public static int mainArmPresetLowShot= 30; public static int mainArmPresetLowShot = 18;
public static int mainArmPresetCloseShot = 90; public static int mainArmPresetCloseShot = 90;
public static int mainArmPresetFarShot = 70; public static int mainArmPresetFarShot = 70;
} }

2
src/org/usfirst/frc/team2059/robot/commands/autonomous/RoutineDefenseTime.java
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@ -6,6 +6,6 @@ public class RoutineDefenseTime extends CommandGroup {
public RoutineDefenseTime() { public RoutineDefenseTime() {
addSequential(new AutoSetArmStopState(false)); addSequential(new AutoSetArmStopState(false));
addSequential(new AutoSetArmPosition(6)); addSequential(new AutoSetArmPosition(6));
addSequential(new AutoDriveTime(3, 1)); addSequential(new AutoDriveTime(1.5, 0.8));
} }
} }

2
src/org/usfirst/frc/team2059/robot/commands/autonomous/RoutineDriveTime.java
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@ -6,6 +6,6 @@ public class RoutineDriveTime extends CommandGroup {
public RoutineDriveTime() { public RoutineDriveTime() {
addSequential(new AutoSetArmStopState(true)); addSequential(new AutoSetArmStopState(true));
addSequential(new AutoResetLower(-1)); addSequential(new AutoResetLower(-1));
addSequential(new AutoDriveTime(3, 0.75)); addSequential(new AutoDriveTime(1.5, 0.75));
} }
} }

2
src/org/usfirst/frc/team2059/robot/subsystems/MainArm.java
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@ -15,7 +15,7 @@ public class MainArm extends PIDSubsystem {
private double min = RobotMap.zeroDegrees; private double min = RobotMap.zeroDegrees;
private double max = RobotMap.ninetyDegrees; private double max = RobotMap.ninetyDegrees;
public MainArm() { public MainArm() {
super("MainArm", 0.3, 0.0, 0.4); super("MainArm", 0.1, 0.0, 0.002);
getPIDController().setContinuous(false); getPIDController().setContinuous(false);
setSetpoint(70); setSetpoint(70);
enable(); enable();