KeshavAnandCode/FTCDecodeMain
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DanTheMan-byte
2026-01-24 15:42:32 -06:00
parent 8d29a80696
commit b5a31afe52
1 changed files with 2 additions and 2 deletions
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4
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Turret.java
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@@ -16,11 +16,11 @@ import java.util.List;
@Config @Config
public class Turret { public class Turret {
public static double turretTolerance = 0.02; public static double turretTolerance = 0.02;
public static double turrPosScalar = 0.00011264432; public static double turrPosScalar = 0.00011264432;
public static double turret180Range = 0.4; public static double turret180Range = 0.4;
public static double turrDefault = 0.4; public static double turrDefault = 0.4;
// TODO: tune these values for limelight
public static double cameraBearingEqual = 1; public static double cameraBearingEqual = 1;
public static double errorLearningRate = 0.15; public static double errorLearningRate = 0.15;
public static double turrMin = 0.2; public static double turrMin = 0.2;
@@ -181,7 +181,7 @@ public class Turret {
if (currentEncoderPos < (turrMin + clampTolerance) || currentEncoderPos > (turrMax - clampTolerance)) { if (currentEncoderPos < (turrMin + clampTolerance) || currentEncoderPos > (turrMax - clampTolerance)) {
// Clamp to servo range // Clamp to servo range
turretPos = Math.max(turrMin, Math.min(turretPos, turrMax)); turretPos = Math.max(turrMin, Math.min(turretPos, turrMax));
} else { } else { // TODO: add so it only adds error when standstill
if (tagBearingDeg != 1000.0 && Math.abs(tagBearingDeg) > cameraBearingEqual && !lockOffset) { if (tagBearingDeg != 1000.0 && Math.abs(tagBearingDeg) > cameraBearingEqual && !lockOffset) {
// Slowly learn turret offset (persistent calibration) // Slowly learn turret offset (persistent calibration)
offset -= tagBearingDeg * errorLearningRate; offset -= tagBearingDeg * errorLearningRate;