feeder tuning for current intake

Valor6800 · Apr 4, 2022 · 68ec834 · 68ec834
1 parent aaaadd1
commit 68ec834
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Showing 3 changed files with 7 additions and 5 deletions.
diff --git a/Competition/src/main/cpp/subsystems/Feeder.cpp b/Competition/src/main/cpp/subsystems/Feeder.cpp
@@ -95,12 +95,13 @@ void Feeder::assessInputs()
         state.feederState = FeederState::FEEDER_DISABLE;
     }
 
-    // Calculate instantaneous current
-    calcCurrent();
+
 }
 
 void Feeder::analyzeDashboard()
 {
+    // Calculate instantaneous current
+    calcCurrent();
     state.reversed = table->GetBoolean("Reverse Feeder?", false);
     state.intakeReverseSpeed = table->GetNumber("Intake Reverse Speed", FeederConstants::DEFAULT_INTAKE_SPEED_REVERSE);
     state.feederReverseSpeed = table->GetNumber("Feeder Reverse Speed", FeederConstants::DEFAULT_FEEDER_SPEED_REVERSE);

diff --git a/Competition/src/main/cpp/subsystems/TurretTracker.cpp b/Competition/src/main/cpp/subsystems/TurretTracker.cpp
@@ -17,6 +17,7 @@ void TurretTracker::init() {
     initTable("TurretTracker");
     table->PutBoolean("Use Turret Shoot", false);
     table->PutNumber("Joystick Multiplier", ShooterConstants::jMultiplier);
+    table->PutNumber("Delta Heading", 0);
 }
 
 void TurretTracker::setDrivetrain(Drivetrain *dt){
@@ -51,13 +52,13 @@ double TurretTracker::tMinusJ(double robotHeading, double turretPos, double jx,
     double ry = ty - jy;
 
     double turretHeadingDesired = atan2(ry, rx);
-    double deltaHeading = turretHeading - turretHeadingDesired;
+    double deltaHeading = turretHeading - (turretHeadingDesired * MathConstants::toDegrees);
 
     if (deltaHeading < -180) deltaHeading += 360;
     if (deltaHeading > 180) deltaHeading -= 360;
 
     table->PutNumber("Delta Heading", deltaHeading);
-    return deltaHeading;
+    return -deltaHeading;
 }
 
 void TurretTracker::assignOutputs() {

diff --git a/Competition/src/main/include/Constants.h b/Competition/src/main/include/Constants.h
@@ -243,7 +243,7 @@ namespace FeederConstants{
     constexpr static double DEFAULT_FEEDER_SPEED_REVERSE = -1.0;
 
     constexpr static int CACHE_SIZE = 20;
-    constexpr static double JAM_CURRENT = 30;
+    constexpr static double JAM_CURRENT = 20;
 }
 
 namespace MathConstants{