changed current limit to 100A

blair-robot-project · Mar 11, 2024 · decf783 · decf783
1 parent 8f8a5d9
commit decf783
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Showing 2 changed files with 8 additions and 8 deletions.
diff --git a/src/main/kotlin/frc/team449/robot2024/constants/subsystem/ShooterConstants.kt b/src/main/kotlin/frc/team449/robot2024/constants/subsystem/ShooterConstants.kt
@@ -9,10 +9,10 @@ object ShooterConstants {
   const val RIGHT_MOTOR_INVERTED = true
   const val LEFT_MOTOR_ID = 46
   const val LEFT_MOTOR_INVERTED_RELATIVE_TO_RIGHT = true
-  const val CURRENT_LIMIT = 50
+  const val CURRENT_LIMIT = 100
   const val BRAKE_MODE = false
 
-  val SUBWOOFER_SPEED = Units.rotationsPerMinuteToRadiansPerSecond(3478.0)
+  val SUBWOOFER_SPEED = Units.rotationsPerMinuteToRadiansPerSecond(4000.0)
   val AUTO_SPEED = Units.rotationsPerMinuteToRadiansPerSecond(4350.0)
   val AMP_SPEED = Units.rotationsPerMinuteToRadiansPerSecond(2000.0)
   val OUTTAKE_SPEED = Units.rotationsPerMinuteToRadiansPerSecond(-200.0)
@@ -21,9 +21,9 @@ object ShooterConstants {
 
   val BRAKE_RATE_LIMIT = Units.rotationsPerMinuteToRadiansPerSecond(4000.0)
 
-  const val KS = 0.075
-  const val KV = 0.012718
-  const val KA = 0.010
+  const val KS = 0.45861
+  const val KV = 0.012569
+  const val KA = 0.011134
 
   const val IN_TOLERANCE = 6.5
 

diff --git a/src/main/kotlin/frc/team449/robot2024/subsystems/ControllerBindings.kt b/src/main/kotlin/frc/team449/robot2024/subsystems/ControllerBindings.kt
@@ -45,9 +45,9 @@ class ControllerBindings(
 
   val shooterRoutine = SysIdRoutine(
     SysIdRoutine.Config(
-      Volts.of(0.20).per(Seconds.of(1.0)),
-      Volts.of(3.0),
-      Seconds.of(20.0)
+      Volts.of(0.7).per(Seconds.of(1.0)),
+      Volts.of(7.0),
+      Seconds.of(10.0)
     ),
     Mechanism(
       { voltage: Measure<Voltage> ->