<commit_before>//Flags
#define NONLINEARTARGET

//Controller constants
#define DEADBAND 15

//Scaling
#define DRIVE_HIGH 100
#define DRIVE_LOW 40
#define ARM_HIGH 100
#define ARM_LOW 30
#define HAND_HIGH 50

//Robot Constants
#define ENCODER_PRECISION 60
#define ARM_SHOULDER_TOP 28000
#define ARM_SHOULDER_BOTTOM 0
#define HAND_MAX 150
#define HAND_MIN 0

//Presets
#define ARM_SHOULDER_PICKUP 27000
#define ARM_ELBOW_PICKUP 2200
#define ARM_SHOULDER_HANG 12500
#define ARM_ELBOW_HANG -700
#define ARM_SHOULDER_BASKET 14200
#define ARM_ELBOW_BASKET -1200

//Autonomous
#define WAIT 30
//IR Autonomous Programs
#define AUTO_DETECT 10400
#define AUTO_IR_CORRECT -1300
#define AUTO_IR_TURN 900
#define AUTO_RAMP_1 1300
#define AUTO_RAMP_2 6100
#define AUTO_RAMP_TURN 900
#define AUTO_RAMP_UP 3700
//Non-IR Autonomous Programs
#define AUTO_FIRST_BASKET 2411
#define AUTO_RAMP 2000
#define AUTO_RAMP_OVER 6400
<commit_msg>Replaced some arm constants with slide<commit_after>//Flags
#define NONLINEARTARGET

//Controller constants
#define DEADBAND 15

//Scaling
#define DRIVE_HIGH 100
#define DRIVE_LOW 40
#define SLIDE_HIGH 100
#define SLIDE_LOW 40
#define HAND_HIGH 50

//Robot Constants
#define ENCODER_PRECISION 60
#define SLIDE_TOP 28000       //Needs to be calibrated
#define SLIDE_BOTTOM 0
#define HAND_MAX 150
#define HAND_MIN 0

//Presets
#define ARM_SHOULDER_PICKUP 27000
#define ARM_ELBOW_PICKUP 2200
#define ARM_SHOULDER_HANG 12500
#define ARM_ELBOW_HANG -700
#define ARM_SHOULDER_BASKET 14200
#define ARM_ELBOW_BASKET -1200

//Autonomous
#define WAIT 30
//IR Autonomous Programs
#define AUTO_DETECT 10400
#define AUTO_IR_CORRECT -1300
#define AUTO_IR_TURN 900
#define AUTO_RAMP_1 1300
#define AUTO_RAMP_2 6100
#define AUTO_RAMP_TURN 900
#define AUTO_RAMP_UP 3700
//Non-IR Autonomous Programs
#define AUTO_FIRST_BASKET 2411
#define AUTO_RAMP 2000
#define AUTO_RAMP_OVER 6400

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