Team4388/2022NoWayHome
1
0
Fork 0
mirror of https://github.com/Team4388/2022NoWayHome.git synced 2026-06-09 00:38:05 -06:00
Code Issues Packages Projects Releases Wiki Activity

autos better + drive for time + rotate until target

Browse Source
This commit is contained in:
aarav18
2022-03-21 22:49:54 -06:00
parent 4c5106d14f
commit e83c1e5cf8
11 changed files with 184 additions and 87 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/main/java/frc4388/robot/Constants.java
+14 -14
View File
@@ -46,18 +46,18 @@ public final class Constants {
public static final double SPEED_FEET_PER_SECOND_AT_FULL_POWER = 20; // TODO: redundant constant?
// 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; // *
public static final int RIGHT_FRONT_WHEEL_CAN_ID = 5; // *
public static final int LEFT_BACK_STEER_CAN_ID = 6; // *
public static final int LEFT_BACK_WHEEL_CAN_ID = 7; // *
public static final int RIGHT_BACK_STEER_CAN_ID = 8; // *
public static final int RIGHT_BACK_WHEEL_CAN_ID = 9; // *
public static final int LEFT_FRONT_STEER_CAN_ENCODER_ID = 10; // *
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 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;
public static final int RIGHT_FRONT_WHEEL_CAN_ID = 5;
public static final int LEFT_BACK_STEER_CAN_ID = 6;
public static final int LEFT_BACK_WHEEL_CAN_ID = 7;
public static final int RIGHT_BACK_STEER_CAN_ID = 8;
public static final int RIGHT_BACK_WHEEL_CAN_ID = 9;
public static final int LEFT_FRONT_STEER_CAN_ENCODER_ID = 10;
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;
// offsets are in degrees
@@ -85,8 +85,8 @@ 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(2.0, 0, 0.01,//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;
public static final double PATH_MAX_ACCELERATION = 5.0;