Team4388/2023WayOfTheRobot
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aarav18
2023-02-09 18:25:57 -07:00
parent 4900c397c4
commit 5a8af1d071
3 changed files with 17 additions and 18 deletions
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src/main/java/frc4388/robot/Constants.java
+2 -5
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@@ -47,20 +47,17 @@ public final class Constants {
public static final class PIDConstants {
public static final int SWERVE_SLOT_IDX = 0;
public static final int SWERVE_PID_LOOP_IDX = 1;
public static final Gains SWERVE_GAINS = new Gains(1.0, 0.0, 0.0, 0.0, 0, 1.0);
public static final Gains SWERVE_GAINS = new Gains(0.5, 0.0, 0.0, 0.0, 0, 1.0);
}
public static final class AutoConstants {
public static final Gains X_CONTROLLER = new Gains(0.8, 0.0, 0.0);
public static final Gains Y_CONTROLLER = new Gains(0.8, 0.0, 0.0);
public static final Gains THETA_CONTROLLER = new Gains(0.8, 0.0, 0.0);
public static final Gains THETA_CONTROLLER = new Gains(-0.8, 0.0, 0.0);
public static final TrapezoidProfile.Constraints THETA_CONSTRAINTS = new TrapezoidProfile.Constraints(Math.PI/2, Math.PI/2); // TODO: tune
public static final double PATH_MAX_VEL = 0.3; // TODO: find the actual value
public static final double PATH_MAX_ACC = 0.3; // TODO: find the actual value
// public static final double kPX_CONTROLLER = 0.8; //TODO: tune
// public static final double kPY_CONTROLLER = 0.8; //TODO: tune
}
public static final class Conversions {