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aarav18
2022-02-05 15:51:32 -07:00
parent e9859e90c6
commit e0d293a0bc
10 changed files with 16 additions and 11 deletions
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src/main/java/frc4388/robot/Constants.java
+2 -2
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@@ -66,9 +66,9 @@ public final class Constants {
// 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(4.0, 0.0, 0.0);
public static final PIDController Y_CONTROLLER = new PIDController(0.01, 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));
1.0, 0.0, 0.0, new TrapezoidProfile.Constraints(Math.PI, Math.PI));
// swerve configuration
public static final double NEUTRAL_DEADBAND = 0.04;