Competition tuning

grt192 · Jan 10, 2023 · 76f0f54 · 76f0f54
1 parent 2567599
commit 76f0f54
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Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -58,13 +58,13 @@ public static final class ElevatorConstants {
         public static final double GROUNDHEIGHT = 0; //0 inches
         public static final double LOWHEIGHT = 280000; //1 inch
         //public static final double BLOCKHEIGHT = 600; //6 inches
-        public static final double HIGHHEIGHT = 325000; //7 inches
+        public static final double HIGHHEIGHT = 345000; //7 inches
 
         public static final double WINCHUPSPEED = .6;
         //this is swapped rn
         public static final double WINCHDOWNSPEED = -.4;
         public static final double WINCHSTOPSPEED = 0;
-        public static final double WINCHTOLERANCE = 10000;
+        public static final double WINCHTOLERANCE = 3000;
 
         public static final double WINCHMAX = HIGHHEIGHT;
     }

diff --git a/src/main/java/frc/robot/subsystems/AlignerSubsystem.java b/src/main/java/frc/robot/subsystems/AlignerSubsystem.java
@@ -114,9 +114,9 @@ else if (tozero){
         if (Math.abs(anglerpos - current_anglertarget) <= motorrange ) {
             motorAngler.set(0);
         } else if (anglerpos < current_anglertarget) {
-            motorAngler.set(.3); // move right
+            motorAngler.set(.2); // move right
         } else if (anglerpos > current_anglertarget){
-            motorAngler.set(-.3);
+            motorAngler.set(-.2);
         }
 
         slapperPositionEntry.setValue(motorSlapper.getSelectedSensorPosition());