Configs from Comp

Author: sophiep29

src/main/java/frc/robot/config/FlywheelConfig.java

@@ -1,22 +1,22 @@
 package frc.robot.config;
 
 public class FlywheelConfig {
-  public static final double FLYWHEEL_RIGHT_SUPPLY_CURRENT_LIMIT = 70;
-  public static final double FLYWHEEL_RIGHT_STATOR_CURRENT_LIMIT = 80;
+  public static final double FLYWHEEL_RIGHT_SUPPLY_CURRENT_LIMIT = 50;
+  public static final double FLYWHEEL_RIGHT_STATOR_CURRENT_LIMIT = 60;
   public static final double FLYWHEEL_RIGHT_GEAR_RATIO = 1;
 
-  public static final double FLYWHEEL_LEFT_SUPPLY_CURRENT_LIMIT = 70;
-  public static final double FLYWHEEL_LEFT_STATOR_CURRENT_LIMIT = 80;
+  public static final double FLYWHEEL_LEFT_SUPPLY_CURRENT_LIMIT = 50;
+  public static final double FLYWHEEL_LEFT_STATOR_CURRENT_LIMIT = 60;
   public static final double FLYWHEEL_LEFT_GEAR_RATIO = 1;
 
   // Set
   public static final double FLYWHEEL_RIGHT_MAX_CRUISE_VELOCITY = 3000;
   public static final double FLYWHEEL_RIGHT_TARGET_ACCELERATION = 500;
-  public static final double FLYWHEEL_RIGHT_P = 10;
+  public static final double FLYWHEEL_RIGHT_P = 0.5;
   public static final double FLYWHEEL_RIGHT_I = 0;
   public static final double FLYWHEEL_RIGHT_D = 0;
-  public static final double FLYWHEEL_RIGHT_S = 0;
-  public static final double FLYWHEEL_RIGHT_V = 0;
+  public static final double FLYWHEEL_RIGHT_S = 0.18;
+  public static final double FLYWHEEL_RIGHT_V = 0.115;
   public static final double FLYWHEEL_RIGHT_A = 0;
 
   // Set
@@ -30,9 +30,9 @@ public class FlywheelConfig {
   public static final double FLYWHEEL_LEFT_A = 0;
 
   // Set
-  public static final double FLYWHEEL_HUB_SHOT_SPEED = 47;
+  public static final double FLYWHEEL_HUB_SHOT_SPEED = 43;
   public static final double FLYWHEEL_TOWER_SHOT_SPEED = 65;
-  public static final double FLYWHEEL_TRENCH_SHOT_SPEED = 65;
+  public static final double FLYWHEEL_TRENCH_SHOT_SPEED = 67;
 
   public static final double FLYWHEEL_OUTTAKE_SPEED = 0;
   public static final double FLYWHEEL_DEFAULT_SHOT_SPEED = 40;

src/main/java/frc/robot/config/HopperConfig.java

@@ -8,21 +8,21 @@ public class HopperConfig {
   // Set
   public static final double HOPPER_MAX_CRUISE_VELOCITY = 500;
   public static final double HOPPER_TARGET_ACCELERATION = 500;
-  public static final double HOPPER_P = 1.25;
+  public static final double HOPPER_P = 1;
   public static final double HOPPER_I = 0;
   public static final double HOPPER_D = 0;
   public static final double HOPPER_S = 0;
   public static final double HOPPER_V = 0;
   public static final double HOPPER_A = 0;
 
-  public static final double SLOW_HOPPER_P = 1.25;
+  public static final double SLOW_HOPPER_P = 0.5;
   public static final double SLOW_HOPPER_I = 0;
   public static final double SLOW_HOPPER_D = 0;
 
   public static final double HOPPER_TOLERANCE = 0.2;
 
   // Set
-  public static final double HOPPER_EXTEND_ROTATION = 4.1;
-  public static final double HOPPER_RETRACT_ROTATION = 0.1;
+  public static final double HOPPER_EXTEND_ROTATION = -17;
+  public static final double HOPPER_RETRACT_ROTATION = -0.1;
   public static final double HOPPER_RETRACT_FOR_NEUTRAL_MODE_ROTATION = 1.752;
 }

src/main/java/frc/robot/config/IntakeConfig.java

@@ -1,12 +1,12 @@
 package frc.robot.config;
 
 public class IntakeConfig {
-  public static final double INTAKE_STATOR_CURRENT_LIMIT = 80;
-  public static final double INTAKE_SUPPLY_CURRENT_LIMIT = 70;
+  public static final double INTAKE_STATOR_CURRENT_LIMIT = 40;
+  public static final double INTAKE_SUPPLY_CURRENT_LIMIT = 35;
   public static final double INTAKE_GEAR_RATIO = 1;
 
   // Set
-  public static final double INTAKE_INTAKE_SPEED = 4;
+  public static final double INTAKE_INTAKE_SPEED = 10;
 
   public static final double INTAKE_OUTTAKE_SPEED = 4;
   public static final double INTAKE_SLOW_SPEED = 3;

src/main/java/frc/robot/config/KickerConfig.java

@@ -1,11 +1,11 @@
 package frc.robot.config;
 
 public class KickerConfig {
-  public static final double KICKER_FRONT_STATOR_CURRENT_LIMIT = 80;
-  public static final double KICKER_FRONT_SUPPLY_CURRENT_LIMIT = 70;
+  public static final double KICKER_FRONT_STATOR_CURRENT_LIMIT = 60;
+  public static final double KICKER_FRONT_SUPPLY_CURRENT_LIMIT = 50;
   public static final double KICKER_FRONT_GEAR_RATIO = 3;
-  public static final double KICKER_BACK_STATOR_CURRENT_LIMIT = 80;
-  public static final double KICKER_BACK_SUPPLY_CURRENT_LIMIT = 70;
+  public static final double KICKER_BACK_STATOR_CURRENT_LIMIT = 60;
+  public static final double KICKER_BACK_SUPPLY_CURRENT_LIMIT = 50;
   public static final double KICKER_BACK_GEAR_RATIO = 3;
 
   // Set