turret adjustments

diff --git a/src/main/java/frc/robot/commands/gpm/Superstructure.java b/src/main/java/frc/robot/commands/gpm/Superstructure.java
index ac50f11bd366c421f25a2187c52d2b42f8d28934..1ffd4763c1f3b202b2753480509cc240d0fd3ce7 100644 (file)
--- a/src/main/java/frc/robot/commands/gpm/Superstructure.java
+++ b/src/main/java/frc/robot/commands/gpm/Superstructure.java
@@ -237,7 +237,7 @@ public class Superstructure extends Command {
             TOFAdjustment = SmartDashboard.getNumber("OPERATOR: TOF Adjustment", TOFAdjustment);
             SmartDashboard.putNumber("OPERATOR: TOF Adjustment", TOFAdjustment);
             hoodOffset = SmartDashboard.getNumber("OPERATOR: Hood Offset", hoodOffset);
-            SmartDashboard.putNumber("OPERATOR: Hood Offset", hoodOffset);
+            SmartDashboard.putNumber("OPERATOR: Hood Offset", hoodOffset);   
             turretOffset = SmartDashboard.getNumber("OPERATOR: Turret Offset", turretOffset);
             SmartDashboard.putNumber("OPERATOR: Turret Offset", turretOffset);
         }// else {
@@ -245,6 +245,7 @@ public class Superstructure extends Command {
         //     hoodOffset = 0.0;
         //     turretOffset = 0.0;
         // }
+
         
         // Phase manager stuff
         phaseManager.update(drivepose, shooter, turret);

diff --git a/src/main/java/frc/robot/constants/ShuttleInterpolation.java b/src/main/java/frc/robot/constants/ShuttleInterpolation.java
index 2d94816623634747084a71b59a54f4c137108c48..58e59ee0873cfd430d3cc3d59e6060e37d4ca626 100644 (file)
--- a/src/main/java/frc/robot/constants/ShuttleInterpolation.java
+++ b/src/main/java/frc/robot/constants/ShuttleInterpolation.java
@@ -21,7 +21,7 @@ public class ShuttleInterpolation {
         shooterVelocityMap.put(0.0, 9.0);
         shooterVelocityMap.put(4.0, 12.8);
         shooterVelocityMap.put(7.6, 19.0);
-        shooterVelocityMap.put(11.4, 28.1);
+        shooterVelocityMap.put(11.4, 28.1); // was 25.2 before
         
 
 

diff --git a/src/main/java/frc/robot/subsystems/turret/Turret.java b/src/main/java/frc/robot/subsystems/turret/Turret.java
index 9a56b9d7cd8a4dd7c2ed40ab9dbb124aa88af175..626a8ed96d0975213d5734f326816ff2675e9755 100644 (file)
--- a/src/main/java/frc/robot/subsystems/turret/Turret.java
+++ b/src/main/java/frc/robot/subsystems/turret/Turret.java
@@ -235,6 +235,7 @@ public class Turret extends SubsystemBase implements TurretIO{
                        SmartDashboard.putBoolean("Turret Calibrated", !calibrating);
                        SmartDashboard.putBoolean("Turret At Setpoint", atSetpoint());
                }
+               
        }
 
        /* ---------------- Simulation ---------------- */

diff --git a/src/main/java/frc/robot/subsystems/turret/TurretConstants.java b/src/main/java/frc/robot/subsystems/turret/TurretConstants.java
index 7a8b9af799258ce314664982a8e5b4e73a03bdfe..3be91da80ef566560dbb332949eb019bf417ef3e 100644 (file)
--- a/src/main/java/frc/robot/subsystems/turret/TurretConstants.java
+++ b/src/main/java/frc/robot/subsystems/turret/TurretConstants.java
@@ -4,8 +4,8 @@ import edu.wpi.first.math.geometry.Translation3d;
 import edu.wpi.first.math.util.Units;
 
 public class TurretConstants {
-    public static double MAX_ANGLE = 220; // Deg
-    public static double MIN_ANGLE = -220; // Deg
+    public static double MAX_ANGLE = 180; // Deg
+    public static double MIN_ANGLE = -200; // Deg
 
     public static double CALIBRATION_OFFSET = 0.0; // TODO: find this at hardstop
 
@@ -26,7 +26,7 @@ public class TurretConstants {
 
        public static final double FEEDFORWARD_KV = 0.06;
 
-    public static final double NORMAL_CURRENT_LIMIT = 40.0; // A
+    public static final double NORMAL_CURRENT_LIMIT = 60.0; // A
     public static final double CALIBRATION_CURRENT_LIMIT = 10.0; // A
     public static final double CALIBRATION_CURRENT_THRESHOLD = 9.0; // A