From 4efa2476803c9c4de709d85cdb76d060bd8b4840 Mon Sep 17 00:00:00 2001 From: nsarge09 Date: Fri, 3 Apr 2026 16:45:44 -0500 Subject: [PATCH 1/3] changed intake direction --- src/main/resources/yaml/ztldr.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/resources/yaml/ztldr.yml b/src/main/resources/yaml/ztldr.yml index eda9f7a0..edb13df2 100644 --- a/src/main/resources/yaml/ztldr.yml +++ b/src/main/resources/yaml/ztldr.yml @@ -187,7 +187,7 @@ subsystems: id: 2 deviceType: TalonFX neutralMode: Coast - motorRotation: CounterClockwise_Positive + motorRotation: Clockwise_Positive flipperMotor: id: 3 deviceType: TalonFX From 41f1b7b038b71374e32a0d5088ba9df3383f873c Mon Sep 17 00:00:00 2001 From: nsarge09 Date: Fri, 3 Apr 2026 17:27:28 -0500 Subject: [PATCH 2/3] fixed intake pid issues --- src/main/java/com/team1816/season/RobotContainer.java | 1 + src/main/resources/yaml/ztldr.yml | 9 +++++---- 2 files changed, 6 insertions(+), 4 deletions(-) diff --git a/src/main/java/com/team1816/season/RobotContainer.java b/src/main/java/com/team1816/season/RobotContainer.java index 80506f71..58edd231 100644 --- a/src/main/java/com/team1816/season/RobotContainer.java +++ b/src/main/java/com/team1816/season/RobotContainer.java @@ -49,6 +49,7 @@ public void teleopInit() { superstructure.setAutoAimTurret(true); superstructure.setSuperstructureWantedGatekeeperState(Superstructure.WantedGatekeeperState.CLOSE); superstructure.forceAllowGatekeeperControl(true); + superstructure.setSuperstructureWantedIntakeState(Superstructure.WantedIntakeState.INTAKE); } private void configureBindings() { diff --git a/src/main/resources/yaml/ztldr.yml b/src/main/resources/yaml/ztldr.yml index edb13df2..46cefeed 100644 --- a/src/main/resources/yaml/ztldr.yml +++ b/src/main/resources/yaml/ztldr.yml @@ -201,8 +201,9 @@ subsystems: rotorToSensor: 0.1 pidConfig: slot0: - kS: 0.3 # static friction - increase if stalling near setpoint - kP: 50 # position error gain - increase if not reaching target, decrease if oscillating + kS: 0.1 # static friction - increase if turret won't move at small errors + kP: 30 # position error gain - increase if still lagging, decrease if oscillating at setpoint + kD: 0.28 # position error gain - increase if not reaching target, decrease if oscillating staticFeedforwardSign: UseClosedLoopSign motionMagic: expoKV: 10 # cruise speed - lower = faster, higher = slower @@ -214,7 +215,7 @@ subsystems: intakeOnSpeed: .4 intakeSlowSpeed: .1 outtakeSpeed: -0.6 - flipperMotorOutPosition: 0.135 #0.166 + flipperMotorOutPosition: 0.164 #0.166 flipperMotorPullInOnePosition: 0.1 flipperMotorPullInTwoPosition: 0.05 flipperMotorInPosition: 0.025 @@ -232,7 +233,7 @@ subsystems: kV: 0.081 constants: topClosedVelocity: 0 - topOpenVelocity: 40 + topOpenVelocity: 60 shooter: canBusName: shootercanivore devices: From 1c308c99272de1acf98f5033bfec2c7082ee5f7a Mon Sep 17 00:00:00 2001 From: nsarge09 Date: Fri, 3 Apr 2026 19:32:02 -0500 Subject: [PATCH 3/3] edited the look up table --- src/main/resources/yaml/ztldr.yml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/main/resources/yaml/ztldr.yml b/src/main/resources/yaml/ztldr.yml index 46cefeed..86856945 100644 --- a/src/main/resources/yaml/ztldr.yml +++ b/src/main/resources/yaml/ztldr.yml @@ -1,6 +1,6 @@ shooterSettings: distancesInches: - - 64 + - 60 - 96 - 156 - 204 @@ -14,7 +14,7 @@ shooterSettings: - 0.1196 # 264 - 0.108 # 360 launchVelocitiesRPS: - - 33 # 48 + - 30 # 48 - 41 # 96 - 46 # 156 - 48 # 204 @@ -320,7 +320,7 @@ subsystems: launchVelocityAdjustmentAmountRPS: 0.01 inclineAngleAdjustmentAmountDegrees: 0.02 turretAngleAdjustmentAmountDegrees: 0.04 - topLaunchMotorBackspinMultiplier: .95 # Less than one for backspin. + topLaunchMotorBackspinMultiplier: 1 # Less than one for backspin. vision: cameras: forwardLeft: # Pi IP: 10.18.16.11