From 4271ed13d633ff770f0e7da1f48f348205a80c04 Mon Sep 17 00:00:00 2001 From: ary Date: Thu, 14 Dec 2023 10:19:51 -0500 Subject: [PATCH] tuning more exits and stuff --- CLOUDS/src/superstructure.cpp | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/CLOUDS/src/superstructure.cpp b/CLOUDS/src/superstructure.cpp index fe65984..bb004ec 100644 --- a/CLOUDS/src/superstructure.cpp +++ b/CLOUDS/src/superstructure.cpp @@ -50,9 +50,9 @@ namespace superstruct // Adjust exit conditions to allow for quick movements void configureExitConditions() { - chassis.set_exit_condition(chassis.turn_exit, 50, 2, 175, 3, 150, 500); - chassis.set_exit_condition(chassis.swing_exit, 100, 3, 250, 7, 150, 500); - chassis.set_exit_condition(chassis.drive_exit, 40, 80, 250, 150, 150, 500); + chassis.set_exit_condition(chassis.turn_exit, 25, 2, 75, 3, 50, 75); + chassis.set_exit_condition(chassis.swing_exit, 100, 3, 75, 7, 50, 75); + chassis.set_exit_condition(chassis.drive_exit, 15, 85, 75, 150, 50, 75); } // Adjust PID constants for accurate movements @@ -60,10 +60,10 @@ namespace superstruct { chassis.set_slew_min_power(80, 80); chassis.set_slew_distance(7, 7); - chassis.set_pid_constants(&chassis.headingPID, 16, 0, 32, 0); - chassis.set_pid_constants(&chassis.forward_drivePID, 1, 0.003, 10, 0); - chassis.set_pid_constants(&chassis.backward_drivePID, 1, 0.003, 10, 0); - chassis.set_pid_constants(&chassis.turnPID, 7, 0.003, 62, 15); + chassis.set_pid_constants(&chassis.headingPID, 16, 0, 40, 0); + chassis.set_pid_constants(&chassis.forward_drivePID, 1.5, 0.003, 13.5, 0); + chassis.set_pid_constants(&chassis.backward_drivePID, 1.5, 0.003, 13.5, 0); + chassis.set_pid_constants(&chassis.turnPID, 7, 0.002, 70, 15); chassis.set_pid_constants(&chassis.swingPID, 8.5, 0, 50, 0); } @@ -231,7 +231,7 @@ namespace superstruct } else { - setIntakeSpeed(-1000); + setIntakeSpeed(0); } }