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added speedmod to halve speed if we bounce #7

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added speedmod to halve speed if we bounce #7

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3768d7a
added speedmod to halve speed if we bounce
nubmonkey Mar 28, 2023
649fda2
moved elev speedmod halved into constants
nubmonkey Mar 28, 2023
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2 changes: 2 additions & 0 deletions src/main/java/frc/robot/Constants.java
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Original file line number Diff line number Diff line change
Expand Up @@ -40,6 +40,8 @@ public final class Constants {

public static final double ELEVATOR_DEADBAND_VALUE = .6;
public static final double maxElevatorMotorSpeed = 0.3; //Normally .2
public static final double ELEVATOR_SPEED_MOD_REDUCED = 0.5;


public static final double MINIMUM_ELEVATOR_POSITION = 2.2;
public static final double restElevatorTargetPosition = 10.6;
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18 changes: 17 additions & 1 deletion src/main/java/frc/robot/subsystems/ElevatorSubsystem.java
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Original file line number Diff line number Diff line change
Expand Up @@ -34,6 +34,10 @@ public class ElevatorSubsystem extends SubsystemBase {
public double newPower;

public DigitalInput elevatorLimitSwitch;

public int previousDirection;

public double elevatorSpeedMod = 1;

public ElevatorSubsystem(ClawIntakeSubsystem intake)
{
Expand Down Expand Up @@ -70,6 +74,7 @@ public ElevatorSubsystem(ClawIntakeSubsystem intake)

public void setTargetPosition(double newTargetPosition, String reason) {
targetPosition = newTargetPosition;
previousDirection = (int) (Math.signum(targetPosition - potentiometer.get()));
}

private double getCappedPower(double desired)
Expand All @@ -86,6 +91,8 @@ public void setSpeed(double newSpeed) {

speed *= Constants.maxElevatorMotorSpeed;

speed *= elevatorSpeedMod;

speed = getCappedPower(speed);

double currentPower = elevatorMotorMain.get();
Expand Down Expand Up @@ -131,13 +138,22 @@ public void periodic() {
}
else {
setSpeed(0);
elevatorSpeedMod = 1;
}
}


if(previousDirection != Math.signum(targetPosition - potentiometer.get())) {
previousDirection = (int) (Math.signum(targetPosition - potentiometer.get()));
elevatorSpeedMod = Constants.ELEVATOR_SPEED_MOD_REDUCED;
}

if(potentiometer.get() < Constants.clawCloseThreshold && !clawThresholdOverridden
&& intake.clawGrabberLeft.get() != Value.kReverse && Robot.isEnabled)
intake.setSolenoid(Value.kReverse);




}

public boolean isInTarget() {
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