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3-26-adjustments #176

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Merged
shishghate merged 2 commits into from
Mar 27, 2026
+8 −8
Merged

3-26-adjustments #176

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721a2ee
adjusted soft limits on the new inclinemotor
EndigoSkull Mar 27, 2026
12271f4
adjusted setpoints for custom distance shooting and removed backspin …
EndigoSkull Mar 27, 2026
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16 changes: 8 additions & 8 deletions src/main/resources/yaml/ztldr.yml
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Original file line number Diff line number Diff line change
Expand Up @@ -258,10 +258,10 @@ subsystems:
motorType: NEO550_JST
remoteSensor: RemoteCANcoder
remoteSensorId: 29
id: -1
id: 27
motorRotation: Clockwise_Positive
reverseSoftLimit: 0.0405
forwardSoftLimit: 0.109
reverseSoftLimit: 0.052
forwardSoftLimit: 0.1196
statorCurrentLimit: 35
pidConfig:
slot0:
Expand Down Expand Up @@ -295,12 +295,12 @@ subsystems:
shooterOffsetYMeters: -0.112268
shooterOffsetZMeters: 0.508
inclineDuckingLimitRotations: 0.052
distanceOneInclineAngleRotations: 0.0405
distanceOneInclineAngleRotations: 0.052
distanceOneLaunchVelocityRPS: 35
distanceTwoInclineAngleRotations: 0.0555
distanceTwoInclineAngleRotations: 0.08
distanceTwoLaunchVelocityRPS: 47
distanceThreeInclineAngleRotations: 0.07425
distanceThreeLaunchVelocityRPS: 49
distanceThreeInclineAngleRotations: 0.1196
distanceThreeLaunchVelocityRPS: 100
distanceAutoThingLaunchVelocityRPS: 60
closeDistanceBetweenBeamBreaks: 0.419
farDistanceBetweenBeamBreaks: 13.570
Expand All @@ -311,7 +311,7 @@ subsystems:
launchVelocityAdjustmentAmountRPS: 0.04
inclineAngleAdjustmentAmountDegrees: 0.02
turretAngleAdjustmentAmountDegrees: 0.04
topLaunchMotorBackspinMultiplier: 0.8 # Less than one for backspin.
topLaunchMotorBackspinMultiplier: 1 # Less than one for backspin.
vision:
cameras:
forwardLeft: # Pi IP: 10.18.16.11
Expand Down
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