intake pivot + shooter wrist frame updates to 10ms for frame status 5…

… (encoder position) to reduce jitter (might nerf this slightly when climber is added to not oversaturate CAN bus)
KHS-Robotics · Feb 29, 2024 · 5a7b266 · 5a7b266
1 parent a0b851d
commit 5a7b266
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Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/src/main/java/frc/robot/subsystems/Intake.java b/src/main/java/frc/robot/subsystems/Intake.java
@@ -64,7 +64,7 @@ public Intake() {
     pivotMotor = new CANSparkMax(RobotMap.INTAKE_PIVOT, MotorType.kBrushless);
     pivotMotor.setIdleMode(IdleMode.kBrake);
     pivotMotor.setInverted(true);
-    pivotMotor.setPeriodicFramePeriod(PeriodicFrame.kStatus5, 100);
+    pivotMotor.setPeriodicFramePeriod(PeriodicFrame.kStatus5, 10);
 
     pivotEncoder = pivotMotor.getAbsoluteEncoder(SparkAbsoluteEncoder.Type.kDutyCycle);
     pivotEncoder.setZeroOffset(0.206289);

diff --git a/src/main/java/frc/robot/subsystems/Shooter.java b/src/main/java/frc/robot/subsystems/Shooter.java
@@ -92,7 +92,7 @@ public Shooter() {
 
     pivotMotor = new CANSparkMax(RobotMap.SHOOTER_PIVOT, MotorType.kBrushless);
     pivotMotor.setIdleMode(IdleMode.kBrake);
-    pivotMotor.setPeriodicFramePeriod(PeriodicFrame.kStatus5, 100);
+    pivotMotor.setPeriodicFramePeriod(PeriodicFrame.kStatus5, 10);
 
     indexMotor = new CANSparkMax(RobotMap.INDEXER, MotorType.kBrushless);
     indexMotor.setIdleMode(IdleMode.kBrake);