That-One-Nerd/ary-over-under
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tuning more exits and stuff

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ary 2023-12-14 10:19:51 -05:00
parent 9b05ba1477
commit 4271ed13d6
1 changed files with 8 additions and 8 deletions
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16
CLOUDS/src/superstructure.cpp
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@ -50,9 +50,9 @@ namespace superstruct
// Adjust exit conditions to allow for quick movements // Adjust exit conditions to allow for quick movements
void configureExitConditions() void configureExitConditions()
{ {
chassis.set_exit_condition(chassis.turn_exit, 50, 2, 175, 3, 150, 500); chassis.set_exit_condition(chassis.turn_exit, 25, 2, 75, 3, 50, 75);
chassis.set_exit_condition(chassis.swing_exit, 100, 3, 250, 7, 150, 500); chassis.set_exit_condition(chassis.swing_exit, 100, 3, 75, 7, 50, 75);
chassis.set_exit_condition(chassis.drive_exit, 40, 80, 250, 150, 150, 500); chassis.set_exit_condition(chassis.drive_exit, 15, 85, 75, 150, 50, 75);
} }
// Adjust PID constants for accurate movements // Adjust PID constants for accurate movements
@ -60,10 +60,10 @@ namespace superstruct
{ {
chassis.set_slew_min_power(80, 80); chassis.set_slew_min_power(80, 80);
chassis.set_slew_distance(7, 7); chassis.set_slew_distance(7, 7);
chassis.set_pid_constants(&chassis.headingPID, 16, 0, 32, 0); chassis.set_pid_constants(&chassis.headingPID, 16, 0, 40, 0);
chassis.set_pid_constants(&chassis.forward_drivePID, 1, 0.003, 10, 0); chassis.set_pid_constants(&chassis.forward_drivePID, 1.5, 0.003, 13.5, 0);
chassis.set_pid_constants(&chassis.backward_drivePID, 1, 0.003, 10, 0); chassis.set_pid_constants(&chassis.backward_drivePID, 1.5, 0.003, 13.5, 0);
chassis.set_pid_constants(&chassis.turnPID, 7, 0.003, 62, 15); chassis.set_pid_constants(&chassis.turnPID, 7, 0.002, 70, 15);
chassis.set_pid_constants(&chassis.swingPID, 8.5, 0, 50, 0); chassis.set_pid_constants(&chassis.swingPID, 8.5, 0, 50, 0);
} }
@ -231,7 +231,7 @@ namespace superstruct
} }
else else
{ {
setIntakeSpeed(-1000); setIntakeSpeed(0);
} }
} }