Team4388/2023WayOfTheRobot
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Merge branch 'master' into vision-april-lime

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This commit is contained in:
Aarav Shah
2023-02-27 17:37:08 -07:00
committed by GitHub
parent 5992a25cb8 10dca06a76
commit b760d5b3c2
14 changed files with 957 additions and 90 deletions
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src/main/java/frc4388/robot/Constants.java
+9 -9
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@@ -47,18 +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 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(0.8, 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 = -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 = 0.3; // TODO: find the actual value
public static final double PATH_MAX_ACC = 0.3; // TODO: find the actual value
}
public static final class Conversions {
@@ -89,7 +88,8 @@ public final class Constants {
public static final double NEUTRAL_DEADBAND = 0.04; // TODO: find the actual value
}
public static final double MAX_SPEED_FEET_PER_SECOND = 10; // TODO: find the actual value
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;