Added back in the 2012 turntable constants

grt192 · Feb 23, 2016 · 22a1300 · 22a1300
1 parent b6000d2
commit 22a1300
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Showing 2 changed files with 29 additions and 8 deletions.
diff --git a/py/config.py b/py/config.py
@@ -23,11 +23,11 @@
 
 #Manual pickup Talons and Objects
 
-pickup_achange_motor1 = CANTalon(9)
-pickup_achange_motor2 = CANTalon(10)
+pickup_achange_motor1 = CANTalon(45)
+pickup_achange_motor2 = CANTalon(46)
 
 pickup_achange_motor1.changeControlMode(CANTalon.ControlMode.Follower)
-pickup_achange_motor1.set(10)
+pickup_achange_motor1.set(47)
 pickup_achange_motor1.reverseOutput(True)
 
 pickup_roller_motor = CANTalon(8)
@@ -36,7 +36,7 @@
 
 #Manual shooter Talons and Objects
 
-flywheel_motor = CANTalon(7)
+flywheel_motor = CANTalon(44)
 shooter_act = Solenoid(1)
 turntable_motor = CANTalon(12)
 manual_shooter = ManualShooter(flywheel_motor, shooter_act, turntable_motor)
@@ -48,9 +48,9 @@
 dt_right = CANTalon(1)
 # dt_r2 = CANTalon(2)
 # dt_r3 = CANTalon(3)
-dt_left = CANTalon(4)
-# dt_l2 = CANTalon(5)
-# dt_l3 = CANTalon(6)
+dt_left = CANTalon(10)
+# dt_l2 = CANTalon(11)
+# dt_l3 = CANTalon(12)
 dt_shifter = Solenoid(0)
 
 

diff --git a/py/grt/mechanism/turntable.py b/py/grt/mechanism/turntable.py
@@ -9,7 +9,28 @@
 
 class TurnTable:
 
-    DT_NO_TARGET_TURN_RATE = .2
+    # 2012 Values:
+
+    # DT_NO_TARGET_TURN_RATE = .2
+    # DT_KP = .0015
+    # DT_KI = 0
+    # DT_KD = 0
+    # DT_ABS_TOL = 50
+    # DT_OUTPUT_RANGE = .25
+    #
+    # INITIAL_NO_TARGET_TURN_RATE = 0
+    #
+    # TURNTABLE_NO_TARGET_TURN_RATE = .2
+    # TURNTABLE_KP = .002
+    # TURNTABLE_KI = 0
+    # TURNTABLE_KD = 0
+    # TURNTABLE_ABS_TOL = 10
+    # TURNTABLE_OUTPUT_RANGE = .4
+    #
+    #
+    # DT_NO_TARGET_TURN_RATE = .2
+    #--------------
+
     DT_KP = .0015
     DT_KI = 0
     DT_KD = 0