62-improve-constants - #73
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TaylerUva
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Aug 2, 2026
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🟡 Human review recommended
It changes multiple mechanism setpoints that can materially affect real-world robot behavior and should be validated via hardware testing and final human review.
Pull request overview
This PR updates the robot’s constants/ setpoints and tolerances for positional mechanisms (turret/hood/intake slide/climber) and free-spinning mechanisms (flywheel/transfer/hotdog/agitator), aligning “prep location” presets with more realistic values and reorganizing related constants.
Changes:
- Updated multiple
PREP_*hood/turret angles and flywheel RPM setpoints from placeholder values to concrete tuned numbers. - Added/organized mechanism tolerances (turret/hood/intake slide) and regrouped PID slot constants for clarity.
- Reordered FreeSpin percent-output constants and TalonFX configuration declarations.
File summaries
| File | Description |
|---|---|
| src/main/java/frc/robot/constants/ConstPositional.java | Updates turret/hood/intake-slide tolerances and multiple preset prep angles; adjusts hood retract angle. |
| src/main/java/frc/robot/constants/ConstFreeSpin.java | Updates preset flywheel RPMs, reorganizes reverse percent outputs, and reorders TalonFX configuration constants. |
Review details
- Files reviewed: 2/2 changed files
- Comments generated: 4
- Review effort level: Lite
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jaymendo670-png
enabled auto-merge (squash)
August 8, 2026 01:33
AngelaKimmy
approved these changes
Aug 8, 2026
TaylerUva
approved these changes
Aug 8, 2026
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