Team4388/2024AcrossTheRidgebotiverse
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Made some autos (need to correct PID) (Im tweakin)

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Abhishrek05
2024-03-12 16:10:20 -06:00
parent 5aa9a10ca2
commit 23575dd33a
4 changed files with 23 additions and 16 deletions
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src/main/java/frc4388/robot/Constants.java
+4 -4
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@@ -40,9 +40,9 @@ public final class Constants {
public static final double TURBO_SPEED = 4.0;
public static final class DefaultSwerveRotOffsets {
public static final double FRONT_LEFT_ROT_OFFSET = 216.869140625;
public static final double FRONT_RIGHT_ROT_OFFSET = 229.4826875;//-212.695 + 90; //77.783 + 45 + 90 ;//-202.588;
public static final double BACK_LEFT_ROT_OFFSET = -277.646484375;
public static final double FRONT_LEFT_ROT_OFFSET = 222.7145469;
public static final double FRONT_RIGHT_ROT_OFFSET = 255.0464068;//-212.695 + 90; //77.783 + 45 + 90 ;//-202.588;
public static final double BACK_LEFT_ROT_OFFSET = -277.4284884;
public static final double BACK_RIGHT_ROT_OFFSET = 140.009765625;
}
@@ -67,7 +67,7 @@ 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(1.2, 0.0, 0.0, 0.0, 0, 0.0);
public static final Gains SWERVE_GAINS = new Gains(1.2, 0.0, 0.2, 0.0, 0, 0.0);
}
public static final class AutoConstants {