end of night changes: sim starts, current limits, constraints,

Author: MichaelLesirge

src/main/java/frc/robot/RobotContainer.java

@@ -464,7 +464,7 @@ private void configureOperatorControllerBindings(CommandXboxController xbox) {
 
     new Trigger(DriverStation::isEnabled)
         .onTrue(
-            Commands.runOnce(() -> coralWrist.setConstraints(3, 8))
+            Commands.runOnce(() -> coralWrist.setConstraints(1, 3))
                 .andThen(superstructure.runAction(Superstructure.State.STOW))
                 .finallyDo(coralWrist::resetContraints));
 

src/main/java/frc/robot/subsystems/superstructure/Superstructure.java

@@ -99,7 +99,7 @@ public Command runPrepare(State goal) {
   }
 
   public static final double L1_HEIGHT = 0.151148670108898;
-  public static final Rotation2d L1_CORAL_ANGLE = Rotation2d.fromDegrees(70);
+  public static final Rotation2d L1_CORAL_ANGLE = Rotation2d.fromDegrees(0);
 
   public static final double L2_HEIGHT = 0.469491383230037 + Units.inchesToMeters(3);
   public static final Rotation2d L2_CORAL_ANGLE = Rotation2d.fromDegrees(-35);

src/main/java/frc/robot/subsystems/superstructure/elevator/ElevatorConstants.java

@@ -16,7 +16,7 @@ public static record ElevatorConfig(int leaderCanId, int followerCanId, boolean
         default -> new ElevatorConfig(0, 1, false);
       };
 
-  public static final int currentLimit = 35;
+  public static final int currentLimit = 40;
   public static final double gearReduction = 9.0;
 
   public static final double elevatorHeight = 1.245 + Units.inchesToMeters(8.5);
@@ -31,7 +31,7 @@ public static record ElevatorConfig(int leaderCanId, int followerCanId, boolean
   public static final double maxCarriageVelocity = 3.0;
   public static final double maxCarriageAcceleration = 3.5;
 
-  public static final double carriagePositionTolerance = Units.inchesToMeters(2);
+  public static final double carriagePositionTolerance = Units.inchesToMeters(1);
 
   public static final PIDConstants pid =
       switch (Constants.getRobot()) {

src/main/java/frc/robot/subsystems/superstructure/wrist/WristConstants.java

@@ -14,7 +14,7 @@ public class WristConstants {
   public static final double GEAR_REDUCTION = 20.0;
   public static final int MOTOR_CURRENT_LIMIT = 40;
 
-  public static final double TOLERANCE_DEGREES = 15;
+  public static final double TOLERANCE_DEGREES = 5;
 
   public static final double MIN_POSITION_DEGREES = Units.rotationsToDegrees(-0.4);
   public static final double MAX_POSITION_DEGREES = Units.rotationsToDegrees(+0.4);

src/main/java/frc/robot/subsystems/superstructure/wrist/WristIOHardware.java

@@ -99,10 +99,6 @@ public void runPosition(double setpointRad, double feedforwardVolts) {
   public void setPID(double kP, double kI, double kD) {
     SparkMaxConfig motorConfig = new SparkMaxConfig();
     motorConfig.closedLoop.pidf(kP, kI, kD, 0, ClosedLoopSlot.kSlot0);
-    System.out.println(kP + " " + kI + " " + kD);
-    SmartDashboard.putNumber("Kp", kP);
-    SmartDashboard.putNumber("Ki", kI);
-    SmartDashboard.putNumber("Kd", kD);
     motor.configure(motorConfig, ResetMode.kNoResetSafeParameters, PersistMode.kPersistParameters);
   }
 

src/main/java/frc/robot/subsystems/superstructure/wrist/WristIOSim.java

@@ -27,7 +27,7 @@ public WristIOSim(WristConfig config) {
             Units.rotationsToRadians(-0.5),
             Units.rotationsToRadians(0.5),
             true,
-            0);
+            Units.degreesToRadians(-10));
   }
 
   @Override