Team4388/2023WayOfTheRobot
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Abhi Sachi
2023-02-07 18:50:33 -07:00
parent 3a9b2eca5b
commit 4bfb26a50a
4 changed files with 64 additions and 9 deletions
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src/main/java/frc4388/robot/Constants.java
+7 -5
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@@ -51,14 +51,16 @@ public final class Constants {
}
public static final class AutoConstants {
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 ProfiledPIDController THETA_CONTROLLER = new ProfiledPIDController(0.0, 0.0, 0.0,
new TrapezoidProfile.Constraints(0.0, 0.0)
);
public static final Gains X_CONTROLLER = new Gains(0.0, 0.0, 0.0);
public static final Gains Y_CONTROLLER = new Gains(0.0, 0.0, 0.0);
public static final Gains THETA_CONTROLLER = new Gains(0.0, 0.0, 0.0);
public static final TrapezoidProfile.Constraints THETA_CONSTRAINTS = new TrapezoidProfile.Constraints(0.0, 0.0);
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 double kPX_CONTROLLER = 1.5; //TODO: find actual value
public static final double kPY_CONTROLLER = 1.5; //TODO: find actual value
}
public static final class Conversions {