max feed forward acceleration added + max voltage in constants

DeepBlueRobotics · Mar 2, 2024 · ab2ef91 · ab2ef91
1 parent 5b7a4a5
commit ab2ef91
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Showing 2 changed files with 7 additions and 1 deletion.
diff --git a/src/main/java/org/carlmontrobotics/Constants.java b/src/main/java/org/carlmontrobotics/Constants.java
@@ -55,8 +55,9 @@ public static final class Arm {
         public static final double kP = 0.1;
 		public static final double kI = 0.1;
 		public static final double kD = 0.1;
-
 
+		public static final int MAX_VOLTAGE = 12;
+
 
 		//Arm measurements - ALL OF THEM ARE PLACEHOLDERS THE NUMBERS MEAN NOTHING
 		public static final double COM_ARM_LENGTH_METERS = 0.381 ;

diff --git a/src/main/java/org/carlmontrobotics/subsystems/Arm.java b/src/main/java/org/carlmontrobotics/subsystems/Arm.java
@@ -95,6 +95,11 @@ public TrapezoidProfile.State calculateSetPoint(double goalSeconds, TrapezoidPro
 
     public TrapezoidProfile.State calculateCustomSetPoint(double goalSeconds, TrapezoidProfile.State currentPoint, TrapezoidProfile.State goalState) {
       return profile.calculate(goalSeconds, currentPoint, goalState);
+
+    }
+
+    public void maxacceleration(){
+      armFeed.maxAchievableAcceleration(MAX_VOLTAGE, armEncoder.getVelocity()); 
     }
 
     // public void driveArm(double timeToTarget, TrapezoidProfile.State goalState) {