fix amp tolerance range and fix kS

Things to check on team comp: - swerve ks fix (revert the changes on the team comp) - swerve pid changes (revert changes on the team comp) - shooter pid changes (keep these changes on the team comp) - amp bandaid fix (revert these changes on the team comp) Things to do: - Ensure pivot is zeroed - Shooter spinup is good (fast, no oscillation) - Swerve steering works - Amping works - Podium shot works
blair-robot-project · Sep 26, 2024 · c1d626e · c1d626e
1 parent 1eab011
commit c1d626e
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Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/src/main/kotlin/frc/team449/robot2024/constants/drives/SwerveConstants.kt b/src/main/kotlin/frc/team449/robot2024/constants/drives/SwerveConstants.kt
@@ -38,7 +38,7 @@ object SwerveConstants {
   const val DRIVE_KA = 0.43365 + 0.035 + 0.0185
 
   // TODO: Figure out this value
-  const val STEER_KS = 0.05
+  const val STEER_KS = 0.05 / 12.0
 
   /** PID gains for driving each module*/
   const val DRIVE_KP = 0.475

diff --git a/src/main/kotlin/frc/team449/robot2024/constants/subsystem/PivotConstants.kt b/src/main/kotlin/frc/team449/robot2024/constants/subsystem/PivotConstants.kt
@@ -68,7 +68,7 @@ object PivotConstants {
   val SHOOT_ANYWHERE_POS_TOLERANCE = Units.degreesToRadians(0.95)
 
   val MAX_POS_ERROR = Units.degreesToRadians(1.65)
-  val AMP_TOL_RANGE = 75.0..115.0
+  val AMP_TOL_RANGE = Units.degreesToRadians(75.0)..Units.degreesToRadians(115.0)
   val AMP_VEL_TOL = Units.degreesToRadians(115.0)
   val STOW_TOL = Units.degreesToRadians(12.5)
   val MAX_VEL_ERROR = Units.degreesToRadians(30.0)