a

diff --git a/src/main/java/frc/robot/constants/Climb/ClimbConstants.java b/src/main/java/frc/robot/constants/Climb/ClimbConstants.java
index 328b1c7796128f591ab6d7d6316282c40ad7f60c..295735dd7e77f000400dec8e75e09b3ac5bb21a7 100644 (file)
--- a/src/main/java/frc/robot/constants/Climb/ClimbConstants.java
+++ b/src/main/java/frc/robot/constants/Climb/ClimbConstants.java
@@ -8,8 +8,8 @@ public class ClimbConstants {
     public final static double MAX_ACCELERATION = 0.3;
     public final static double RADIUS = 0.3;
     public final static double CLIMB_HEIGHT = 4;
-    public final static double STRONG_CURRENT = 5.0;
-    public final static double WEAK_CURRENT = 4.0;
+    public final static double STRONG_CURRENT = 42.0;
+    public final static double WEAK_CURRENT = 7.0;
     public final static double OFFSET = 100.0;
-    public final static double CLIMB_OFFSET = 45.0;
+    public final static double CLIMB_OFFSET = 80.0;
 }

diff --git a/src/main/java/frc/robot/subsystems/Climb/LinearClimb.java b/src/main/java/frc/robot/subsystems/Climb/LinearClimb.java
index 11e67c83319f9667097efca549a0ae542dd7f42d..b893c416c9c0b3f92e474c8eb421412f4f73e53c 100644 (file)
--- a/src/main/java/frc/robot/subsystems/Climb/LinearClimb.java
+++ b/src/main/java/frc/robot/subsystems/Climb/LinearClimb.java
@@ -86,7 +86,6 @@ public class LinearClimb extends SubsystemBase{
             double power = pid.calculate(motor.getPosition().getValueAsDouble());
             power = MathUtil.clamp(power, -0.2, 0.2);
             motor.set(power);
-            SmartDashboard.putNumber("Position", getPosition());
         }else{
             if(counter > 250){
                 stopCalibrating();
@@ -94,6 +93,7 @@ public class LinearClimb extends SubsystemBase{
             motor.set(0.15);
             counter += 1;
         }
+        SmartDashboard.putNumber("Position", getPosition());
     }
     public void setCurrentLimits(double limit){
         TalonFXConfiguration config = new TalonFXConfiguration();
@@ -114,7 +114,7 @@ public class LinearClimb extends SubsystemBase{
         setCurrentLimits(ClimbConstants.WEAK_CURRENT);
     }
     public void stopCalibrating(){
-        downPosition = motor.getPosition().getValueAsDouble();
+        downPosition = motor.getPosition().getValueAsDouble() - 1.0;
         upPosition = downPosition - ClimbConstants.OFFSET;
         climbPosition = upPosition + ClimbConstants.CLIMB_OFFSET;
         setSetpoint(downPosition);