Team4388/2023WayOfTheRobot
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some auto work (not working at all)

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aarav18
2023-02-07 23:32:19 -07:00
parent 90297c044f
commit 7d6ef72cf8
3 changed files with 34 additions and 20 deletions
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src/main/java/frc4388/robot/Constants.java
+8 -8
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@@ -51,16 +51,16 @@ public final class Constants {
}
public static final class AutoConstants {
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 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 TrapezoidProfile.Constraints THETA_CONSTRAINTS = new TrapezoidProfile.Constraints(Math.PI/2, Math.PI/2); // TODO: tune
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 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 = 1.5; //TODO: find actual value
public static final double kPY_CONTROLLER = 1.5; //TODO: find 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 {