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triangle path and some pid work

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aarav18
2022-02-05 15:19:00 -07:00
parent d49ee663fb
commit e9859e90c6
9 changed files with 17 additions and 13 deletions
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src/main/java/frc4388/robot/Constants.java
+2 -2
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@@ -65,8 +65,8 @@ public final class Constants {
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 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 ProfiledPIDController THETA_CONTROLLER = new ProfiledPIDController(
1.0, 0.0, 0.0, new TrapezoidProfile.Constraints(2 * Math.PI, Math.PI));