spotless + softer elevator zero

Iron-Panthers · Nov 11, 2023 · b2ace8c · b2ace8c
1 parent e609e7b
commit b2ace8c
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Showing 4 changed files with 4 additions and 10 deletions.
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -237,8 +237,8 @@ public static final class Setpoints {
     public static final double EXTENSION_EPSILON = 5;
     public static final double ANGULAR_OFFSET = 0;
 
-    public static final double ZERO_MOTOR_POWER = -0.2;
-    public static final double ZERO_STATOR_LIMIT = 10;
+    public static final double ZERO_MOTOR_POWER = -0.12;
+    public static final double ZERO_STATOR_LIMIT = 5;
     public static final double STATOR_LIMIT = 25;
 
     public static final double GRAVITY_OFFSET_PERCENT = .2;

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -25,13 +25,10 @@
 import frc.robot.Constants.Drive;
 import frc.robot.Constants.Elevator;
 import frc.robot.autonomous.commands.MobilityAuto;
-import frc.robot.autonomous.commands.N1_1ConePlus2CubeHybridMobility;
-import frc.robot.autonomous.commands.N1_1ConePlus2CubeHybridMobilityEngage;
 import frc.robot.autonomous.commands.N2_Engage;
 import frc.robot.autonomous.commands.N3_1ConePlusMobility;
 import frc.robot.autonomous.commands.N3_1ConePlusMobilityEngage;
 import frc.robot.autonomous.commands.N6_1ConePlusEngage;
-import frc.robot.autonomous.commands.N9_1ConePlus2CubeMobility;
 import frc.robot.autonomous.commands.N9_1ConePlusMobility;
 import frc.robot.autonomous.commands.N9_1ConePlusMobilityEngage;
 import frc.robot.commands.DefaultDriveCommand;

diff --git a/src/main/java/frc/robot/commands/GroundIntakeElevatorCommand.java b/src/main/java/frc/robot/commands/GroundIntakeElevatorCommand.java
@@ -2,11 +2,8 @@
 
 import edu.wpi.first.wpilibj2.command.CommandBase;
 import frc.robot.Constants;
-import frc.robot.Constants.Elevator;
 import frc.robot.subsystems.ElevatorSubsystem;
 import frc.robot.subsystems.ElevatorSubsystem.Modes;
-import frc.util.Util;
-
 import java.util.function.BooleanSupplier;
 
 public class GroundIntakeElevatorCommand extends CommandBase {

diff --git a/src/main/java/frc/robot/subsystems/IntakeSubsystem.java b/src/main/java/frc/robot/subsystems/IntakeSubsystem.java
@@ -119,9 +119,9 @@ private double getFilterCalculatedValue() {
   @Override
   public void periodic() {
     filterOutput = filter.calculate(intakeMotor.getStatorCurrent());
-    if(isCube && filterOutput >= Intake.CUBE_STATOR_LIMIT) {
+    if (isCube && filterOutput >= Intake.CUBE_STATOR_LIMIT) {
       currentIntakeMode = Modes.HOLD;
-    } else if(filterOutput >= Intake.CUBE_STATOR_LIMIT) {
+    } else if (filterOutput >= Intake.CUBE_STATOR_LIMIT) {
       currentIntakeMode = Modes.HOLD;
     }