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aarav18
2022-02-05 10:08:37 -07:00
parent dd30f1dc6f
commit a7693d1c27
3 changed files with 65 additions and 62 deletions
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src/main/java/frc4388/robot/Constants.java
+9
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@@ -4,9 +4,12 @@
package frc4388.robot;
import edu.wpi.first.math.controller.PIDController;
import edu.wpi.first.math.controller.ProfiledPIDController;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.trajectory.TrapezoidProfile;
import frc4388.utility.Gains;
import frc4388.utility.LEDPatterns;
@@ -61,6 +64,12 @@ public final class Constants {
public static final int SWERVE_TIMEOUT_MS = 30;
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(0.0, 0.0, 0.0);
public static final PIDController Y_CONTROLLER = new PIDController(0.0, 0.0, 0.0);
public static final ProfiledPIDController THETA_CONTROLLER = new ProfiledPIDController(
1.0, 0.0, 0.0, new TrapezoidProfile.Constraints(2 * Math.PI, Math.PI));
// swerve configuration
public static final double NEUTRAL_DEADBAND = 0.04;
public static final double OPEN_LOOP_RAMP_RATE = 0.2;