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PID Tuning, Controller Adjust

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This commit is contained in:
Aarav Shah
2022-01-14 17:48:53 -07:00
parent 28e970e398
commit 789f4f6a9b
9 changed files with 61 additions and 17 deletions
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src/main/java/frc4388/robot/Constants.java
+5 -3
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@@ -26,9 +26,10 @@ public final class Constants {
public static final double WHEEL_SPEED = 0.1;
public static final double WIDTH = 22;
public static final double HEIGHT = 22;
public static final double JOYSTICK_TO_METERS_PER_SECOND = 5;
public static final double MAX_SPEED_FEET_PER_SEC = 16;
public static final double JOYSTICK_TO_METERS_PER_SECOND = 2;
public static final double MAX_SPEED_FEET_PER_SEC = 20;
public static final double SPEED_FEET_PER_SECOND_AT_FULL_POWER = 20;
//IDs
public static final int LEFT_FRONT_STEER_CAN_ID = 2;
public static final int LEFT_FRONT_WHEEL_CAN_ID = 3;
public static final int RIGHT_FRONT_STEER_CAN_ID = 4;
@@ -41,6 +42,7 @@ public final class Constants {
public static final int RIGHT_FRONT_STEER_CAN_ENCODER_ID = 11;
public static final int LEFT_BACK_STEER_CAN_ENCODER_ID = 12;
public static final int RIGHT_BACK_STEER_CAN_ENCODER_ID = 13;
public static final int GYRO_ID = 14;
// ofsets are in degrees
// public static final double LEFT_FRONT_ENCODER_OFFSET = 181.494141;
// public static final double RIGHT_FRONT_ENCODER_OFFSET = 360. - 59.238281;
@@ -55,7 +57,7 @@ public final class Constants {
public static final int SWERVE_SLOT_IDX = 0;
public static final int SWERVE_PID_LOOP_IDX = 1;
public static final int SWERVE_TIMEOUT_MS = 30;
public static final Gains SWERVE_GAINS = new Gains(1.0, 0.0, 0.0, 0.0, 0, 1.0);
public static final Gains SWERVE_GAINS = new Gains(1.0, 0.0, 1.0, 0.0, 0, 1.0);
// swerve configuration
public static final double NEUTRAL_DEADBAND = 0.04;