Harshini and viggo slide and arm pid pid actually sucks why are we do…

…ing pid ahhhhhhhhh (#81) * 11/21/24 - Harshini and Viggo got kid shampoo constants working got slide commands working but still needs work (change slide height when scoring on high baskets)(a "i got it" button...?) got a slide max value updated slide PID (just P value really) yippee * 11/21/24 - Harshini changed a few drivebase constants :DDD --------- Co-authored-by: FTC16750 <[email protected]>
technototes · Nov 22, 2024 · b99d120 · b99d120
1 parent 770ce6d
commit b99d120
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Showing 3 changed files with 20 additions and 21 deletions.
diff --git a/Twenty403/src/main/java/org/firstinspires/ftc/twenty403/controls/OperatorController.java b/Twenty403/src/main/java/org/firstinspires/ftc/twenty403/controls/OperatorController.java
@@ -47,15 +47,14 @@ public OperatorController(CommandGamepad g, Robot r) {
     }
 
     private void AssignNamedControllerButton() {
-        //openRetainer = gamepad.dpadUp;
-        //closeRetainer = gamepad.dpadUp;
-        eatRetainer = gamepad.dpadRight;
-        slurpIntake = gamepad.leftBumper;
-        spitIntake = gamepad.rightBumper;
+       // openRetainer = gamepad.dpadUp;
+      //  closeRetainer = gamepad.dpadRight;
+     //   slurpIntake = gamepad.leftBumper;
+      //  spitIntake = gamepad.rightBumper;
         //temp changing the button below from biteJaw to intake :DD
-        biteJaw = gamepad.ps_cross;
-        releaseJaw = gamepad.ps_triangle;
-        //dumpWrist = gamepad.ps_share;
+        //biteJaw = gamepad.ps_cross;
+       // releaseJaw = gamepad.ps_triangle;
+        ///dumpWrist = gamepad.ps_share;
         //scoopWrist = gamepad.ps_options;
         slideMax = gamepad.ps_share;
         slideMin = gamepad.ps_options;
@@ -74,7 +73,7 @@ private void AssignNamedControllerButton() {
 
     public void BindControls() {
         if (Setup.Connected.KIDSSHAMPOOSUBSYSTEM) {
-            bindKidShampooControls();
+         //   bindKidShampooControls();
         }
         if (Setup.Connected.HANGSUBSYSTEM) {
             bindHangControls();
@@ -85,7 +84,7 @@ public void BindControls() {
         }
     }
 
-    public void bindKidShampooControls() {
+    /*public void bindKidShampooControls() {
         openRetainer.whenPressed(
             Command.create(robot.kidShampooSubsystem::openRetainer, robot.kidShampooSubsystem)
         );
@@ -118,7 +117,7 @@ public void bindKidShampooControls() {
             Command.create(robot.kidShampooSubsystem::stopIntake, robot.kidShampooSubsystem)
         );
 
-    }
+    }*/
 
     public void bindArmControls() {
         armIntake.whenPressed(

diff --git a/Twenty403/src/main/java/org/firstinspires/ftc/twenty403/subsystems/ArmSubsystem.java b/Twenty403/src/main/java/org/firstinspires/ftc/twenty403/subsystems/ArmSubsystem.java
@@ -34,9 +34,9 @@ public class ArmSubsystem implements Subsystem, Loggable {
     public static int ARM_VERTICAL = 3100;
     public static int ARM_HORIZONTAL = 1000;
     public static int INITIAL_POSITION = 150;
-    public static int INCREMENT_DECREMENT = 120;
-    public static int SLIDE_INC_DEC = 100;
-    public static int SLIDE_MAX_POS = 850;
+    public static int INCREMENT_DECREMENT = 230;
+    public static int SLIDE_INC_DEC = 250;
+    public static int SLIDE_MAX_POS = 1175;
     public static int SLIDE_MIN_POS = -150;
     public static int SLIDE_OFFSET = 2000;
     public static double MIN_SLIDE_MOTOR_POWER = -0.3;
@@ -49,8 +49,8 @@ public class ArmSubsystem implements Subsystem, Loggable {
 
     // as of now, we arent having a D
     public static PIDCoefficients armPID = new PIDCoefficients(0.0007, 0.0, 0.000);
-    public static PIDCoefficients slidePID = new PIDCoefficients(0.001, 0.0, 0.000);
-
+    public static PIDCoefficients slidePID = new PIDCoefficients(0.0018, 0.0, 0.000);
+    //slide PID last updated 11/21/24 :DDD
     @Log(name = "armPow")
     public double armPow;
 
@@ -177,14 +177,14 @@ public ArmSubsystem() {
     }
 
     public void increment() {
-        setArmPos(getArmCurrentPos() + INCREMENT_DECREMENT);
+        setArmPos(armTargetPos+ INCREMENT_DECREMENT);
         if (armTargetPos > 3100) {
             setArmPos(3100);
         }
     }
 
     public void decrement() {
-        setArmPos(getArmCurrentPos() - INCREMENT_DECREMENT);
+        setArmPos(armTargetPos - INCREMENT_DECREMENT);
         if (armTargetPos < 0) {
             setArmPos(0);
         }

diff --git a/Twenty403/src/main/java/org/firstinspires/ftc/twenty403/subsystems/DrivebaseSubsystem.java b/Twenty403/src/main/java/org/firstinspires/ftc/twenty403/subsystems/DrivebaseSubsystem.java
@@ -56,16 +56,16 @@ public abstract static class DriveConstants implements MecanumConstants {
         );
 
         @WheelRadius
-        public static double WHEEL_RADIUS = 1.88976; // in
+        public static double WHEEL_RADIUS = 1.875; // in
 
         @GearRatio
         public static double GEAR_RATIO = 1.0; // 2021: / 19.2; // output (wheel) speed / input (motor) speed
 
         @TrackWidth
-        public static double TRACK_WIDTH = 15.5; // 2021: 10; // in (side to side)
+        public static double TRACK_WIDTH = 15; // 2021: 10; // in (side to side)
 
         @WheelBase
-        public static double WHEEL_BASE = 14.5; // in (front to back)
+        public static double WHEEL_BASE = 14; // in (front to back)
 
         @KV
         public static double kV =