Added inversion to indexer.

FRC830 · Feb 19, 2024 · e4fa02d · e4fa02d
1 parent d2b7dda
commit e4fa02d
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Showing 2 changed files with 12 additions and 3 deletions.
diff --git a/src/main/cpp/subsystems/LauncherHAL.cpp b/src/main/cpp/subsystems/LauncherHAL.cpp
@@ -65,7 +65,14 @@ void LauncherHAL::SetFlywheelSpeed(double speed)
 
 void LauncherHAL::SetIndexerSpeed(double speed)
 {
-    m_indexerSpeed = speed;
+    if (INVERT_INDEXER)
+    {
+        m_indexerSpeed = -speed;
+    }
+    else
+    {
+        m_indexerSpeed = speed;
+    }
 
     m_IndMotor.Set(m_indexerSpeed);
 }

diff --git a/src/main/include/subsystems/SubSystemConfig.h b/src/main/include/subsystems/SubSystemConfig.h
@@ -42,7 +42,7 @@ const double LFT_PVT_ABS_ENC_CONVERSION_FACTOR = 360.0;
 const bool LFT_PVT_MTR_INVERTED = true;
 
 // ###########################################################
-// #                        Flywheel                         #
+// #                        LAUNCHER                         #
 // ###########################################################
 const int FLYWHEEL_TOP_ID = 22;
 const int FLYWHEEL_BOTTOM_ID = 23;
@@ -67,4 +67,6 @@ const double LAUNCHER_PVT_ABS_ENC_CONVERSION_FACTOR = 80.0;
 const double ZERO_OFFSET = 36.221;
 
 const double MAX_PIVOT_ANGLE = 75.0;
-const double MIN_PIVOT_ANGLE = 5.0;
+const double MIN_PIVOT_ANGLE = 5.0;
+
+const bool INVERT_INDEXER = false;