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Adi storage joint #28

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merged 3 commits into from
Feb 22, 2025
Merged

Adi storage joint #28

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3ec91ea
revert an enum
adiY666 Feb 22, 2025
fbfb187
what
adiY666 Feb 22, 2025
b34c5e5
fixed.
adiY666 Feb 22, 2025
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11 changes: 5 additions & 6 deletions src/main/java/frc/robot/subsystems/CoralJoint.java
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Original file line number Diff line number Diff line change
Expand Up @@ -12,7 +12,7 @@ public class CoralJoint extends SmartMotorControllerGenericSubsystem {

public enum StoragePose {

INTAKE(-1), L1(-1), L2(-1), L3(-1), RESTING(-1);
INTAKE(-1), PLACEMENT(-1), RESTING(-1);

public final double neededPitch;

Expand All @@ -21,14 +21,13 @@ public enum StoragePose {
}
}

public static final double CORAL_JOINT_FORWARD_SPEED = 0.175;
public static final double CORAL_JOINT_BACKWARD_SPEED = -0.175;
public static final double CORAL_JOINT_FORWARD_SPEED = 0.5;
public static final double CORAL_JOINT_BACKWARD_SPEED = 0.5;

private static final String NAMESPACE_NAME = "coral joint";
private static final double GEAR_RATIO = 1;
private static final double DEGREES_IN_ROTATIONS = 360;
private static final double DISTANCE_PER_PULSE = GEAR_RATIO * DEGREES_IN_ROTATIONS;
private static final double SECONDS_IN_MINUTE = 60;

private final TalonFXWrapper talonFX;
private final DigitalInput topLimit;
Expand Down Expand Up @@ -62,9 +61,9 @@ public boolean canMove(double speed) {

public void calibrateEncoderPosition() {
if (topLimit.get()) {
talonFX.setPosition(STORAGE_POSE.L3.neededPitch);
talonFX.setPosition(StoragePose.RESTING.neededPitch);
} else if (bottomLimit.get()) {
talonFX.setPosition(STORAGE_POSE.RESTING.neededPitch);
talonFX.setPosition(StoragePose.PLACEMENT.neededPitch);
}
}

Expand Down