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Ryan Manley
2022-04-04 17:22:52 -06:00
parent a3602b2004
commit c94aa83919
7 changed files with 53 additions and 23 deletions
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src/main/java/frc4388/robot/Constants.java
+1 -1
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@@ -85,7 +85,7 @@ public final class Constants {
// swerve auto constants
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(2.0, 0, 0.01,//0.1, 0.3,
public static final ProfiledPIDController THETA_CONTROLLER = new ProfiledPIDController(15.0, 0, 0.0,//0.1, 0.3,
new TrapezoidProfile.Constraints(Math.PI, Math.PI/2));
public static final boolean PATH_RECORD_VELOCITY = true;
public static final double PATH_MAX_VELOCITY = 5.0;