Team4388/2023WayOfTheRobot
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This commit is contained in:
Abhi Sachi
2023-02-06 19:49:08 -07:00
parent 6b4c591b3b
commit 3a9b2eca5b
3 changed files with 18 additions and 2 deletions
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src/main/java/frc4388/robot/Constants.java
+3 -2
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@@ -57,8 +57,8 @@ public final class Constants {
new TrapezoidProfile.Constraints(0.0, 0.0)
);
public static final double PATH_MAX_VEL = -1; // TODO: find the actual value
public static final double PATH_MAX_ACC = -1; // TODO: find the actual value
public static final double PATH_MAX_VEL = SwerveDriveConstants.MAX_SPEED_FEET_PER_SECOND / 4; // TODO: find the actual value
public static final double PATH_MAX_ACC = 3; // TODO: find the actual value
}
public static final class Conversions {
@@ -106,6 +106,7 @@ public final class Constants {
}
public static final double MAX_SPEED_FEET_PER_SECOND = 5; // TODO: find the actual value
public static final double MAX_ANGULAR_SPEED_FEET_PER_SECOND = 2 * 2 * Math.PI; // TODO: find the actual value
// dimensions
public static final double WIDTH = 18.5; // TODO: find the actual value
src/main/java/frc4388/robot/RobotContainer.java
+2
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@@ -7,6 +7,7 @@
package frc4388.robot;
import edu.wpi.first.math.trajectory.TrajectoryConfig;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.InstantCommand;
@@ -91,6 +92,7 @@ public class RobotContainer {
* @return the command to run in autonomous
*/
public Command getAutonomousCommand() {
TrajectoryConfig trajectoryConfig = new TrajectoryConfig(SwerveDriveConstants.AutoConstants.PATH_MAX_VEL, SwerveDriveConstants.AutoConstants.PATH_MAX_ACC).setKinematics(m_robotSwerveDrive.getKinematics());
return new InstantCommand();
}