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Update some TODO values with actual number #83

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Merged
mustangzr1 merged 1 commit into from
Mar 3, 2019
Merged

Update some TODO values with actual number #83

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4 changes: 2 additions & 2 deletions Robot2019/src/main/java/frc/robot/commands/Climb.java
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Original file line number Diff line number Diff line change
Expand Up @@ -23,8 +23,8 @@ public class Climb extends Command {
private final double climbDown = -1;
private final double retract = -1;
private final double overrideThreshold = 0.1; // TODO: Set this to reasonable/tested value;
private final double retractGoal = 0; // TODO: Set this to reasonable/tested value;
private final double offGroundHeight = 10; // TODO: Set this to reasonable/tested value;
private final double retractGoal = 15; // This only needs to be off the ground. Climb is 19 inches.
private final double offGroundHeight = 10;

public Climb(Climber climber, Drivetrain dt, Joystick joy) {
// Use requires() here to declare subsystem dependencies
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5 changes: 3 additions & 2 deletions Robot2019/src/main/java/frc/robot/commands/KeepClimber.java
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Expand Up @@ -13,7 +13,8 @@
public class KeepClimber extends Command {
private Climber climber;

private final double retractSpeed = -1; // TODO: Confirm number
private final double retractSpeed = -1;

public KeepClimber(Climber climber) {
// Use requires() here to declare subsystem dependencies
// eg. requires(chassis);
Expand All @@ -29,7 +30,7 @@ protected void initialize() {
// Called repeatedly when this Command is scheduled to run
@Override
protected void execute() {
if(climber.slipping()) {
if (climber.slipping()) {
climber.runClimber(retractSpeed);
} else {
climber.stopClimber();
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8 changes: 4 additions & 4 deletions Robot2019/src/main/java/frc/robot/subsystems/Climber.java
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Expand Up @@ -22,9 +22,9 @@ public class Climber extends Subsystem {
private DoubleSolenoid pistons;

final private double minTilt = 0; // In degrees // TODO: Update wtih actual number
final private double minDist = 13; // In inches // TODO: Update with actual number
final private double minDist = 20; // In inches // TODO: Update with actual number
final private double maxTilt = 30; // In degrees // TODO: Update with actual number
final private double maxDist = 15; // In inches // TODO: Update with actual number
final private double maxDist = 24; // In inches // TODO: Update with actual number
final private double slipTolerance = 0.5; // In inches // TODO: Update with actual number;

public Climber(VictorSP motor, Encoder enc, AHRS ahrs, DoubleSolenoid pistons) {
Expand All @@ -33,7 +33,7 @@ public Climber(VictorSP motor, Encoder enc, AHRS ahrs, DoubleSolenoid pistons) {
this.ahrs = ahrs;
this.pistons = pistons;

double pulseFraction = 1.0/256;
double pulseFraction = 1.0 / 256;
double pitchDiameter = 1.790; // https://www.vexrobotics.com/35-sprockets.html#Drawing
enc.setDistancePerPulse(pulseFraction * Math.PI * pitchDiameter);
enc.reset();
Expand All @@ -51,7 +51,7 @@ public void stopClimber() {
motor.stopMotor();
}

//We are erring on the side of changing directions too much
// We are erring on the side of changing directions too much
public boolean needToClimb() {
double angle = Math.atan2(ahrs.getRawAccelZ(), ahrs.getRawAccelX());
angle *= 180 / Math.PI;
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