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Add path recording constants

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Reogranize path recording code
Change recorded path naming to use date and time
Try out keeping log messages in a resource file
This commit is contained in:
nathanrsxtn
2022-03-01 11:57:49 -07:00
parent bd6025bf52
commit d9a4be3090
4 changed files with 90 additions and 77 deletions
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src/main/java/frc4388/robot/Constants.java
+7 -2
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@@ -67,8 +67,13 @@ 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(
15.0, 0.1, 0.3, new TrapezoidProfile.Constraints(Math.PI, Math.PI));
public static final ProfiledPIDController THETA_CONTROLLER = new ProfiledPIDController(15.0, 0.1, 0.3, new TrapezoidProfile.Constraints(Math.PI, Math.PI));
public static final boolean PATH_RECORD_VELOCITY = true;
public static final double PATH_MAX_VELOCITY = 5.5;
public static final double PATH_MAX_ACCELERATION = 50;
public static final double MIN_WAYPOINT_ANGLE = 20;
public static final double MIN_WAYPOINT_DISTANCE = 0.1;
public static final double MIN_WAYPOINT_VELOCITY = 0.1;
// swerve configuration
public static final double NEUTRAL_DEADBAND = 0.04;