as limit approaches 0

BitBucketsFRC4183 · Mar 9, 2025 · a4fa976 · a4fa976
1 parent 3b89e8a
commit a4fa976
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Showing 3 changed files with 4 additions and 4 deletions.
diff --git a/src/main/java/frc/robot/constants/ArmConstants.java b/src/main/java/frc/robot/constants/ArmConstants.java
@@ -17,7 +17,7 @@ public class ArmConstants {
     public static double kV = 1.5096;
     public static double kG = 0.18;
     public static double kA = 0.33715;
-    public static double kP = 3;
+    public static double kP = 4;
     public static double kI = 0.2;
     public static double kD = 0;
     public static final double kArmToleranceRPS = 0;

diff --git a/src/main/java/frc/robot/constants/ElevatorConstants.java b/src/main/java/frc/robot/constants/ElevatorConstants.java
@@ -38,15 +38,15 @@ public class ElevatorConstants {
     public static double kV = 10.604;
     public static double kG = 0;
     public static double kA = 2.2017;
-    public static double kP = 110;
+    public static double kP = 125;
     public static double kI = 0;
     public static double kD = 0;
 
 
     public static double L1 = 0;
     public static double L2 = -0.244;
     public static double L3 = 0.0885;
-    public static double L4 = 0.607;
+    public static double L4 = 0.610;
     public static double carriageMass = 20.0;
     public static double maxHeight = 0.617;
     public static double minHeight = -0.280;

diff --git a/src/main/java/frc/robot/subsystems/ElevatorSubsystem/ElevatorSubsystem.java b/src/main/java/frc/robot/subsystems/ElevatorSubsystem/ElevatorSubsystem.java
@@ -120,7 +120,7 @@ public void setElevatorVoltageCommandBypass(double volts) {
             outputVoltage = Math.signum(outputVoltage) == -1 ? outputVoltage : 0;
         } else if ((getLoadHeight() <= ElevatorConstants.minHeight + 0.01)) {
             outputVoltage = Math.signum(outputVoltage) == 1 ? outputVoltage : outputVoltage * 0.333;
-        } else if (getLoadHeight() >= ElevatorConstants.maxHeight - 0.01) {
+        } else if (getLoadHeight() >= ElevatorConstants.maxHeight - 0.005) {
             outputVoltage = Math.signum(outputVoltage) == -1 ? outputVoltage : outputVoltage * 0.333;
 
         }