From 340eff81fe7cc8d7e8e8f453b8bfeb16888b7b13 Mon Sep 17 00:00:00 2001 From: Aarav Shah Date: Sat, 18 Feb 2023 15:26:38 -0700 Subject: [PATCH] Update Constants.java --- src/main/java/frc4388/robot/Constants.java | 38 +++++++--------------- 1 file changed, 11 insertions(+), 27 deletions(-) diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index 57db05a..c18f200 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -24,7 +24,7 @@ import frc4388.utility.LEDPatterns; public final class Constants { public static final class SwerveDriveConstants { - public static final double ROTATION_SPEED = 2.0; + public static final double ROTATION_SPEED = -0.7; public static final class IDs { public static final int LEFT_FRONT_WHEEL_ID = 2; @@ -64,14 +64,14 @@ public final class Constants { public static final class Conversions { public static final int CANCODER_TICKS_PER_ROTATION = 4096; - public static final double JOYSTICK_TO_METERS_PER_SECOND_FAST = 11.0; // TODO: find the actual value - public static final double JOYSTICK_TO_METERS_PER_SECOND_SLOW = 2.0; // TODO: find the actual value + public static final double JOYSTICK_TO_METERS_PER_SECOND_FAST = 5.8; + public static final double JOYSTICK_TO_METERS_PER_SECOND_SLOW = 0.8; - public static final double MOTOR_REV_PER_WHEEL_REV = 6.12; // TODO: find the actual value - public static final double MOTOR_REV_PER_STEER_REV = 12.8; // TODO: find the actual value + public static final double MOTOR_REV_PER_WHEEL_REV = 5.12; + public static final double MOTOR_REV_PER_STEER_REV = 12.8; public static final double TICKS_PER_MOTOR_REV = 2048; - public static final double WHEEL_DIAMETER_INCHES = 4.0; // TODO: the actual value + public static final double WHEEL_DIAMETER_INCHES = 3.9; public static final double INCHES_PER_WHEEL_REV = WHEEL_DIAMETER_INCHES * Math.PI; public static final double WHEEL_REV_PER_MOTOR_REV = 1 / MOTOR_REV_PER_WHEEL_REV; @@ -87,30 +87,13 @@ public final class Constants { public static final double OPEN_LOOP_RAMP_RATE = 0.2; // TODO: find the actual value public static final double CLOSED_LOOP_RAMP_RATE = 0.2; // TODO: find the actual value public static final double NEUTRAL_DEADBAND = 0.04; // TODO: find the actual value - - - // public static final double LEFT_FRONT_ENCODER_OFFSET = (4 * 360. - 232.6466 + 180 - 90) % 360.; // * 2022 SwerveDrive values - // public static final double RIGHT_FRONT_ENCODER_OFFSET = (4 * 360. - 152.1265 - 180 - 90) % 360.; // * 2022 SwerveDrive values - // public static final double LEFT_BACK_ENCODER_OFFSET = (4 * 360. - 189.4834 - 90) % 360.; // * 2022 SwerveDrive values - // public static final double RIGHT_BACK_ENCODER_OFFSET = (4 * 360. - 9.3156 - 180 - 90) % 360.; // * 2022 SwerveDrive values - - // public static final double LEFT_FRONT_ENCODER_OFFSET = (4 * 360. - 152.1265 - 180 - 90) % 360.; // * 2023 translated values (don't work) - // public static final double RIGHT_FRONT_ENCODER_OFFSET = (4 * 360. - 9.3156 - 180 - 90) % 360.; // * 2023 translated values (don't work) - // public static final double LEFT_BACK_ENCODER_OFFSET = (4 * 360. - 232.6466 + 180 - 90) % 360.; // * 2023 translated values (don't work) - // public static final double RIGHT_BACK_ENCODER_OFFSET = (4 * 360. - 189.4834 - 90) % 360.; // * 2023 translated values (don't work) - - // public static final double LEFT_FRONT_ENCODER_OFFSET = 0.0 + 90.0; // * 2023 experimentally-derived values (mostly work) - // public static final double RIGHT_FRONT_ENCODER_OFFSET = 0.0; // * 2023 experimentally-derived values (mostly work) - // public static final double LEFT_BACK_ENCODER_OFFSET = 0.0 + 24.0; // * 2023 experimentally-derived values (mostly work) - // public static final double RIGHT_BACK_ENCODER_OFFSET = 0.0 + 45.0 + 180.0; // * 2023 experimentally-derived values (mostly work) - } public static final double MAX_SPEED_FEET_PER_SECOND = 10; // TODO: find the actual value // dimensions - public static final double WIDTH = 18.5; // TODO: find the actual value - public static final double HEIGHT = 18.5; // TODO: find the actual value + public static final double WIDTH = 18.5; + public static final double HEIGHT = 18.5; public static final double HALF_WIDTH = WIDTH / 2.d; public static final double HALF_HEIGHT = HEIGHT / 2.d; @@ -138,7 +121,8 @@ public final class Constants { public static final class OIConstants { public static final int XBOX_DRIVER_ID = 0; public static final int XBOX_OPERATOR_ID = 1; - public static final double LEFT_AXIS_DEADBAND = 0.04; - public static final boolean SKEW_STICKS = false; // TODO: find the actual value + public static final double LEFT_AXIS_DEADBAND = 0.1; + public static final double RIGHT_AXIS_DEADBAND = 0.6; + public static final boolean SKEW_STICKS = true; // ! this might have to actually be false, merge conflicts are confusing } }