idk what really changed

Spartronics4915 · Jan 15, 2022 · 5c37552 · 5c37552
1 parent 01f1c2d
commit 5c37552
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Showing 2 changed files with 13 additions and 12 deletions.
diff --git a/src/main/java/com/spartronics4915/frc/Constants.java b/src/main/java/com/spartronics4915/frc/Constants.java
@@ -47,18 +47,19 @@ public DeviceSpec(String nm, int id, int nbut)
     }
 
     // from atlas 2020
-    public static final class DriveStraightConstants
-    {
-        public static final double kP = 0; // Was 0.4
-        public static final double kI = 0.2;
-        public static final double kD = 0;
-        public static final double kAllowedError = 0; // In degrees
-    }
+    // public static final class DriveStraightConstants
+    // {
+    //     public static final double kP = 0; // Was 0.4
+    //     public static final double kI = 0.2;
+    //     public static final double kD = 0;
+    //     public static final double kAllowedError = 0; // In degrees
+    // }
 
     public static final class JoystickMotorConstants
     {
-        public static final double kMotorSpeedMultiplier = 1;
+        public static final double kMotorSpeedMultiplier = 0.5;
         public static final double kMotorSlowSpeed = 0.3;
         public static final double kJoystickDeadzone = 0.1;
+        public static final double kJoystickResponseCurve = 5.0/3.0;
     }
 }
diff --git a/src/main/java/com/spartronics4915/frc/commands/JoystickMotorCommand.java b/src/main/java/com/spartronics4915/frc/commands/JoystickMotorCommand.java
@@ -3,7 +3,7 @@
 import edu.wpi.first.wpilibj2.command.CommandBase;
 import edu.wpi.first.wpilibj.Joystick;
 
-import com.spartronics4915.frc.Constants;
+import com.spartronics4915.frc.Constants.*;
 import com.spartronics4915.frc.subsystems.JoystickMotor;
 
 public class JoystickMotorCommand extends CommandBase
@@ -29,7 +29,7 @@ public void execute()
 
         if (mSlow)
         {
-            y *= Constants.JoystickMotorConstants.kMotorSlowSpeed;
+            y *= JoystickMotorConstants.kMotorSlowSpeed;
         }
 
         if (mInverted)
@@ -38,8 +38,8 @@ public void execute()
         }
 
         // copied from 2020-InfiniteRecharge, no idea how it works (magic)
-        y = Math.copySign(Math.pow(Math.abs(y), 5.0/3.0), y); // apply response curve
-        mJoystickMotor.set(applyDeadzone(y, Constants.JoystickMotorConstants.kJoystickDeadzone));
+        y = Math.copySign(Math.pow(Math.abs(y), JoystickMotorConstants.kJoystickResponseCurve), y); // apply response curve
+        mJoystickMotor.set(applyDeadzone(y, JoystickMotorConstants.kJoystickDeadzone));
     }
 
     // also copied from ir2020