perm(arm): Slow down movements.

Gongoliers · Feb 13, 2024 · 6787503 · 6787503
1 parent 0997839
commit 6787503
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Showing 2 changed files with 5 additions and 6 deletions.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -81,8 +81,7 @@ private void configureBindings() {
         .rightTrigger()
         .whileTrue(Commands.parallel(arm.to(ArmState.SHOOT)).andThen(shooter.shoot()));
 
-    operatorController.rightBumper().whileTrue(intake.outtake()).whileTrue(shooter.shoot());
-    operatorController.rightTrigger().whileTrue(shooter.smartShoot());
+    operatorController.rightBumper().whileTrue(shooter.shoot());
 
     operatorController.a().onTrue(Commands.runOnce(() -> arm.setGoal(ArmState.AMP)));
     operatorController.b().onTrue(Commands.runOnce(() -> arm.setGoal(ArmState.STOW)));

diff --git a/src/main/java/frc/robot/arm/ArmConstants.java b/src/main/java/frc/robot/arm/ArmConstants.java
@@ -24,7 +24,7 @@ public static class ShoulderMotorConstants {
     public static final Rotation2d MINIMUM_ANGLE = Rotation2d.fromDegrees(12.5);
 
     /** Maximum angle of the shoulder joint. */
-    public static final Rotation2d MAXIMUM_ANGLE = Rotation2d.fromDegrees(115);
+    public static final Rotation2d MAXIMUM_ANGLE = Rotation2d.fromDegrees(90);
 
     /** Tolerance of the shoulder joint. */
     public static final Rotation2d TOLERANCE = Rotation2d.fromDegrees(5.0);
@@ -36,11 +36,11 @@ public static class ShoulderMotorConstants {
     public static final double KP = 36.0;
 
     /** Maximum speed of the shoulder joint in rotations per second. */
-    public static final double MAXIMUM_SPEED = 1.5;
+    public static final double MAXIMUM_SPEED = 1.0;
 
     /** Maximum acceleration of the shoulder joint in rotations per second per second. */
     public static final double MAXIMUM_ACCELERATION =
-        MotionProfileCalculator.calculateAcceleration(MAXIMUM_SPEED, 0.3);
+        MotionProfileCalculator.calculateAcceleration(MAXIMUM_SPEED, 0.5);
 
     /** Maximum speed and acceleration of the shoulder joint. */
     public static final TrapezoidProfile.Constraints CONSTRAINTS =
@@ -77,7 +77,7 @@ public static class ElbowMotorConstants {
     public static final double KP = 48.0;
 
     /** Maximum speed of the shoulder joint in rotations per second. */
-    public static final double MAXIMUM_SPEED = 2.0;
+    public static final double MAXIMUM_SPEED = 1.5;
 
     /** Maximum acceleration of the shoulder joint in rotations per second per second. */
     public static final double MAXIMUM_ACCELERATION =