FINAL TOURNEY CHANGESgit add -A!

Valor6800 · Aug 16, 2021 · c19eedb · c19eedb
1 parent cbe822d
commit c19eedb
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Showing 2 changed files with 4 additions and 15 deletions.
diff --git a/Competition/src/main/cpp/subsystems/Lift.cpp b/Competition/src/main/cpp/subsystems/Lift.cpp
@@ -47,7 +47,7 @@ void Lift::assessInputs() {
     }
 
     state.liftState = operatorController->GetBumper(frc::GenericHID::kLeftHand) ? LiftState::MANUAL : LiftState::DISABLED;
-    state.manual_input = std::abs(operatorController->GetY(frc::GenericHID::kRightHand)) < 0.1 ? 0 : -operatorController->GetY(frc::GenericHID::kRightHand);
+    state.manual_input = std::abs(operatorController->GetY(frc::GenericHID::kRightHand)) < 0.05 ? 0 : operatorController->GetY(frc::GenericHID::kRightHand);
 }
 
 void Lift::analyzeDashboard() {
@@ -64,18 +64,7 @@ void Lift::assignOutputs() {
         leadMotor.Set(0);
         brake_solenoid.Set(false);
     } else {
-        if (state.manual_input > 0) {
-            if (state.liftState == LiftState::SAFE)
-                leadMotor.Set(LiftConstants::SAFE_SPEED);
-            else
-                leadMotor.Set(state.powerUp);
-         } else if (state.manual_input < 0) {
-            if (state.liftState == LiftState::SAFE)
-                leadMotor.Set(-LiftConstants::SAFE_SPEED);
-            else
-                leadMotor.Set(state.powerDown);
-         }else
-            leadMotor.Set(0);
+        leadMotor.Set(state.manual_input);
         brake_solenoid.Set(true);
     }
 }
diff --git a/Competition/src/main/include/Constants.h b/Competition/src/main/include/Constants.h
@@ -99,7 +99,7 @@ namespace ShooterConstants {
     // Deadband for the left joystick x axis
     constexpr static double kDeadband = 0.05;
 
-    constexpr static double TURRET_SPEED_MULTIPLIER = 0.25;
+    constexpr static double TURRET_SPEED_MULTIPLIER = 0.5;
 
     constexpr static int dpadUp = 0;
     constexpr static int dpadRight = 90;
@@ -174,7 +174,7 @@ namespace LiftConstants {
     constexpr static int BRAKE_PCM_CAN_ID = 2;
 
     constexpr static double DEFAULT_UP_SPD = -0.33;
-    constexpr static double DEFAULT_DOWN_SPD = 0.9;
+    constexpr static double DEFAULT_DOWN_SPD = 1;
 
     constexpr static double SAFE_SPEED = -0.1;
 }