Team4388/2024AcrossTheRidgebotiverse
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lotta stuff (im geekin)

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Abhishrek05
2024-03-15 14:39:35 -06:00
parent 230b1511d9
commit 6a405328e1
8 changed files with 152 additions and 28 deletions
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src/main/java/frc4388/robot/Constants.java
+7 -9
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@@ -7,12 +7,10 @@
package frc4388.robot;
import edu.wpi.first.math.trajectory.TrapezoidProfile;
import edu.wpi.first.math.geometry.Translation2d;
import frc4388.utility.LEDPatterns;
import edu.wpi.first.math.trajectory.TrapezoidProfile;
import frc4388.utility.Gains;
import frc4388.utility.LEDPatterns;
/**
* The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean
@@ -40,10 +38,10 @@ 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 = 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;
public static final double FRONT_LEFT_ROT_OFFSET = 220;
public static final double FRONT_RIGHT_ROT_OFFSET = 136.365;//-212.695 + 90; //77.783 + 45 + 90 ;//-202.588;
public static final double BACK_LEFT_ROT_OFFSET = -279.08349884;
public static final double BACK_RIGHT_ROT_OFFSET = 140.8887656;
}
public static final class IDs {
@@ -67,7 +65,7 @@ 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, 0.1, 0.2, 0, 0.0);
public static final Gains SWERVE_GAINS = new Gains(1.2, 0.0, 0.0, 0.0, 0, 0.0);
}
public static final class AutoConstants {