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pids tuned somewhat, heading thing FIXED

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aarav18
2022-02-07 19:49:27 -07:00
parent e0d293a0bc
commit 60f5cc6097
12 changed files with 110 additions and 13 deletions
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src/main/java/frc4388/robot/Constants.java
+3 -3
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@@ -65,10 +65,10 @@ public final class Constants {
public static final Gains SWERVE_GAINS = new Gains(1.0, 0.0, 1.0, 0.0, 0, 1.0);
// swerve auto constants
public static final PIDController X_CONTROLLER = new PIDController(4.0, 0.0, 0.0);
public static final PIDController Y_CONTROLLER = new PIDController(0.01, 0.0, 0.0);
public static final PIDController X_CONTROLLER = new PIDController(0.5, 0.0, 0.0);
public static final PIDController Y_CONTROLLER = new PIDController(2.0, 0.0, 0.0);
public static final ProfiledPIDController THETA_CONTROLLER = new ProfiledPIDController(
1.0, 0.0, 0.0, new TrapezoidProfile.Constraints(Math.PI, Math.PI));
15.0, 0.1, 0.3, new TrapezoidProfile.Constraints(Math.PI, Math.PI));
// swerve configuration
public static final double NEUTRAL_DEADBAND = 0.04;