Merge pull request #83 from DeepBlueRobotics/issue-60

Update some TODO values with actual number

Author: mustangzr1

Robot2019/src/main/java/frc/robot/commands/Climb.java

@@ -23,8 +23,8 @@ public class Climb extends Command {
   private final double climbDown = -1;
   private final double retract = -1;
   private final double overrideThreshold = 0.1; // TODO: Set this to reasonable/tested value;
-  private final double retractGoal = 0; // TODO: Set this to reasonable/tested value;
-  private final double offGroundHeight = 10; // TODO: Set this to reasonable/tested value;
+  private final double retractGoal = 15; // This only needs to be off the ground. Climb is 19 inches.
+  private final double offGroundHeight = 10;
 
   public Climb(Climber climber, Drivetrain dt, Joystick joy) {
     // Use requires() here to declare subsystem dependencies

Robot2019/src/main/java/frc/robot/commands/KeepClimber.java

@@ -13,7 +13,8 @@
 public class KeepClimber extends Command {
   private Climber climber;
 
-  private final double retractSpeed = -1; // TODO: Confirm number
+  private final double retractSpeed = -1;
+
   public KeepClimber(Climber climber) {
     // Use requires() here to declare subsystem dependencies
     // eg. requires(chassis);
@@ -29,7 +30,7 @@ protected void initialize() {
   // Called repeatedly when this Command is scheduled to run
   @Override
   protected void execute() {
-    if(climber.slipping()) {
+    if (climber.slipping()) {
       climber.runClimber(retractSpeed);
     } else {
       climber.stopClimber();

Robot2019/src/main/java/frc/robot/subsystems/Climber.java

@@ -22,9 +22,9 @@ public class Climber extends Subsystem {
   private DoubleSolenoid pistons;
 
   final private double minTilt = 0; // In degrees // TODO: Update wtih actual number
-  final private double minDist = 13; // In inches // TODO: Update with actual number
+  final private double minDist = 20; // In inches // TODO: Update with actual number
   final private double maxTilt = 30; // In degrees // TODO: Update with actual number
-  final private double maxDist = 15; // In inches // TODO: Update with actual number
+  final private double maxDist = 24; // In inches // TODO: Update with actual number
   final private double slipTolerance = 0.5; // In inches // TODO: Update with actual number;
 
   public Climber(VictorSP motor, Encoder enc, AHRS ahrs, DoubleSolenoid pistons) {
@@ -33,7 +33,7 @@ public Climber(VictorSP motor, Encoder enc, AHRS ahrs, DoubleSolenoid pistons) {
     this.ahrs = ahrs;
     this.pistons = pistons;
 
-    double pulseFraction = 1.0/256;
+    double pulseFraction = 1.0 / 256;
     double pitchDiameter = 1.790; // https://www.vexrobotics.com/35-sprockets.html#Drawing
     enc.setDistancePerPulse(pulseFraction * Math.PI * pitchDiameter);
     enc.reset();
@@ -51,7 +51,7 @@ public void stopClimber() {
     motor.stopMotor();
   }
 
-  //We are erring on the side of changing directions too much
+  // We are erring on the side of changing directions too much
   public boolean needToClimb() {
     double angle = Math.atan2(ahrs.getRawAccelZ(), ahrs.getRawAccelX());
     angle *= 180 / Math.PI;