Skip to content

Commit

Permalink
shift coordinate system
Browse files Browse the repository at this point in the history
LucienMorey committed Jan 25, 2025

Verified

This commit was signed with the committer’s verified signature.
RickHuizing01 Rick Huizing
1 parent 8252785 commit a52f598
Showing 2 changed files with 6 additions and 8 deletions.
10 changes: 4 additions & 6 deletions components/wrist.py
Original file line number Diff line number Diff line change
@@ -12,9 +12,9 @@


class WristComponent:
MAXIMUM_DEPRESSION = math.radians(-23.0)
MAXIMUM_ELEVATION = math.radians(80.0)
NEUTRAL_ANGLE = math.radians(0.0)
MAXIMUM_DEPRESSION = math.radians(-113.0)
MAXIMUM_ELEVATION = math.radians(-10.0)
NEUTRAL_ANGLE = math.radians(-90.0)

WRIST_MAX_VEL = math.radians(30.0)
WRIST_MAX_ACC = math.radians(15.0)
@@ -120,9 +120,7 @@ def execute(self) -> None:
TrapezoidProfile.State(self.inclination(), self.current_velocity()),
TrapezoidProfile.State(self.desired_angle, 0.0),
)
ff = self.wrist_ff.calculate(
desired_state.position - (math.pi / 2), desired_state.velocity
)
ff = self.wrist_ff.calculate(desired_state.position, desired_state.velocity)
self.wrist_controller.setReference(
desired_state.position,
SparkMax.ControlType.kPosition,
4 changes: 2 additions & 2 deletions controllers/algae_intake.py
Original file line number Diff line number Diff line change
@@ -10,8 +10,8 @@ class AlgaeIntake(StateMachine):
algae_manipulator_component: AlgaeManipulatorComponent
wrist: WristComponent

L2_INTAKE_ANGLE = tunable(math.radians(40.0))
L3_INTAKE_ANGLE = tunable(math.radians(40.0))
L2_INTAKE_ANGLE = tunable(math.radians(-50.0))
L3_INTAKE_ANGLE = tunable(math.radians(-50.0))

def __init__(self):
pass

0 comments on commit a52f598

Please sign in to comment.