package org.usfirst.frc330.constants;

public final class LiftPos {
	private LiftPos(){}

	// Tolerance
	public static final double tolerance =			 1.0;		//JR, SP 2-15
	
	// PID Constants
	//public static final double proportional =		 0.3;		//AP, SP 2-14
	public static final double integral =			 0.000;		//AP, SP 2-14
	//public static final double derivitive =			 0.001;		//AP, SP 2-14
	public static final double proportional =		 0.4;		//AP, SP 2-23
	public static final double derivitive =			 0.30;		//AP, SP 2-23
	
	//public static final double lowerLimit = 	0.125;   //AP 2-28 Was: 0.250 JR, SP 2-15
	public static final double lowerLimit = 	0.0;	//AP 3-12 (Per Shane)
	public static final double upperLimit = 	37.0;   //AP, SP 2-14
	
	// Values are in inches from the physical hardstop
	public static final double dropOff = 			lowerLimit; // JR 2-15
	public static final double carry =				4.1;  //JR 2-15
	public static final double load2 = 				11.2; //JR 2-15
	public static final double justOverOneTote = 	17.0; //AP 2-25
	public static final double intake = 			33.0; //JR 2-15
	public static final double stack3 = 			39.0;
	
	public static final double bottomLimitHeight = 0; //JR 2-14
	//public static final double topLimitHeight = 38.5; //JR 2-14
	public static final double topLimitHeight = 38.5-1.125; //AP 4-1
	
	//Current
	public static final double currentLowerLimit = -30; //JR 2-16 highest current seen was about 18amps
	public static final double currentUpperLimit = 30;  //JR 2-16
	
	public static final double defaultMaxOutput = 1.0;
	public static final double slowMaxOutput =    0.66;
	
}
package org.usfirst.frc330.constants;

public final class LiftPos {
	private LiftPos(){}

	// Tolerance
	public static final double tolerance =			 1.0;		//JR, SP 2-15
	
	// PID Constants
	//public static final double proportional =		 0.3;		//AP, SP 2-14
	public static final double integral =			 0.000;		//AP, SP 2-14
	//public static final double derivitive =			 0.001;		//AP, SP 2-14
	public static final double proportional =		 0.4;		//AP, SP 2-23
	public static final double derivitive =			 0.40;		//JR, SP 4-19 (faster lift)
	
	//public static final double lowerLimit = 	0.125;   //AP 2-28 Was: 0.250 JR, SP 2-15
	public static final double lowerLimit = 	0.0;	//AP 3-12 (Per Shane)
	public static final double upperLimit = 	37.0;   //AP, SP 2-14
	
	// Values are in inches from the physical hardstop
	public static final double dropOff = 			lowerLimit; // JR 2-15
	public static final double carry =				4.1;  //JR 2-15
	public static final double load2 = 				11.2; //JR 2-15
	public static final double justOverOneTote = 	17.0; //AP 2-25
	public static final double intake = 			33.0; //JR 2-15
	public static final double stack3 = 			39.0;
	
	public static final double bottomLimitHeight = 0; //JR 2-14
	//public static final double topLimitHeight = 38.5; //JR 2-14
	public static final double topLimitHeight = 38.5-1.125; //AP 4-1
	
	//Current
	public static final double currentLowerLimit = -30; //JR 2-16 highest current seen was about 18amps
	public static final double currentUpperLimit = 30;  //JR 2-16
	
	public static final double defaultMaxOutput = 1.0;
	public static final double slowMaxOutput =    0.66;
	
}
Increase D for Lift after gear reduction change