Tweaks for Trap from Practice Field

Team-501-The-PowerKnights · Mar 30, 2024 · 6a0df50 · 6a0df50
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commit 6a0df50
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Showing 2 changed files with 4 additions and 15 deletions.
diff --git a/src/main/java/frc/robot/subsystems/Launcher.java b/src/main/java/frc/robot/subsystems/Launcher.java
@@ -25,7 +25,7 @@ public enum Task {
     LAUNCHPASS("Launch Pass", 1.00, 5000),
     LAUNCHAUTO("Launch Auto", 0.0, 0.0),
     PUTAMP("Note->Amp", 0.0, 0.0),
-    LAUNCHTRAP("Launch Tap", 0.35, 1000),
+    LAUNCHTRAP("Launch Tap", 0.55, 1000), // .60
     CLEARJAM("Clear", 0.25, 1000.0),
     IDLE("Idle", 0.0, 0.0),
     LAUCNHNOTE1("Launch Note 1", .67, 55.0),

diff --git a/src/main/java/frc/robot/subsystems/Mast.java b/src/main/java/frc/robot/subsystems/Mast.java
@@ -33,7 +33,7 @@ public enum Task {
     LAUCNHPASS("Launch Pass", 61.0),
     LAUNCHAUTO("Launch Auto", 6.0),
     PUTAMP("PutAmp", -26.0), // tested
-    PUTTRAP("PutTrap", 2.5),
+    PUTTRAP("PutTrap", 37.5), // was 40
     CLEARJAM("Clear", 40.0),
     CLIMBING("Climbing", -7.0),
     TESTING("Testing", 0.0),
@@ -187,25 +187,14 @@ public void periodic() {
     double absEncoderDeg = getAbsoluteEncoderDegrees();
     double error = relEncoderDeg - absEncoderDeg;
 
-    // Remove backlash from Launcher by syncing constantly
-    // if (++counts == 30 && Math.abs(error) > .4) {
-    // // double AbsToRel = getAbsoluteEncoderDegrees() * gearRatio / 360;
-    // double AbsToRel = new BigDecimal(absEncoderDeg * gearRatio / 360)
-    // .setScale(3, RoundingMode.DOWN)
-    // .doubleValue();
-    // relMastLeftEncoder.setPosition(AbsToRel);
-    // counts = 0;
-    // }
-
     if (++counts >= 30) {
       if (Math.abs(error) > .4) {
         // System.out.println("*** fixing at " + counts);
-        // double AbsToRel = getAbsoluteEncoderDegrees() * gearRatio / 360;
-        double AbsToRel =
+        double absToRel =
             new BigDecimal(absEncoderDeg * gearRatio / 360)
                 .setScale(3, RoundingMode.DOWN)
                 .doubleValue();
-        relMastLeftEncoder.setPosition(AbsToRel);
+        relMastLeftEncoder.setPosition(absToRel);
       } else {
         // System.out.println("*** not fixing at " + counts);
       }