From a10ccf2cb2a1ebf57bc489ed152e1874c3296df2 Mon Sep 17 00:00:00 2001 From: Michael Mikovsky <77305074+Astatin3@users.noreply.github.com> Date: Thu, 29 Aug 2024 17:03:25 -0600 Subject: [PATCH] update speeds --- src/main/java/frc4388/robot/Constants.java | 4 ++-- src/main/java/frc4388/robot/RobotContainer.java | 4 ++-- src/main/java/frc4388/robot/subsystems/SwerveDrive.java | 2 +- 3 files changed, 5 insertions(+), 5 deletions(-) diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index 3376b08..915335b 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -68,7 +68,7 @@ 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(32, 0.0, 0.0, 0.0, 0, 0.0); + public static final Gains SWERVE_GAINS = new Gains(50, 0.0, 0.32, 0.0, 0, 0.0); public static final Gains TEST_SWERVE_GAINS = new Gains(1.2, 0.0, 0.0, 0.0, 0, 0.0); @@ -88,7 +88,7 @@ public final class Constants { public static final int CANCODER_TICKS_PER_ROTATION = 1; public static final double JOYSTICK_TO_METERS_PER_SECOND_FAST = 6.22; - public static final double JOYSTICK_TO_METERS_PER_SECOND_SLOW = JOYSTICK_TO_METERS_PER_SECOND_FAST * 0.3; + public static final double JOYSTICK_TO_METERS_PER_SECOND_SLOW = JOYSTICK_TO_METERS_PER_SECOND_FAST * 0.5; public static final double MOTOR_REV_PER_WHEEL_REV = 5.12; public static final double MOTOR_REV_PER_STEER_REV = 12.8; diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 3a2cab0..c6164f0 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -308,8 +308,8 @@ public class RobotContainer { // ! /* Speed */ new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON) // final - .onTrue(new InstantCommand(() -> m_robotSwerveDrive.setToTurbo())); - // .onFalse(new InstantCommand(() -> m_robotSwerveDrive.setToFast())); + .onTrue(new InstantCommand(() -> m_robotSwerveDrive.setToTurbo())) + .onFalse(new InstantCommand(() -> m_robotSwerveDrive.setToFast())); new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON) // final .onTrue(new InstantCommand(() -> m_robotSwerveDrive.setToSlow())); diff --git a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java index 243093e..a2e0c30 100644 --- a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java +++ b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java @@ -36,7 +36,7 @@ public class SwerveDrive extends SubsystemBase { private RobotGyro gyro; - public double speedAdjust = SwerveDriveConstants.Conversions.JOYSTICK_TO_METERS_PER_SECOND_FAST; // * slow by default + public double speedAdjust = SwerveDriveConstants.Conversions.JOYSTICK_TO_METERS_PER_SECOND_SLOW; // * slow by default public double rotSpeedAdjust = SwerveDriveConstants.MIN_ROT_SPEED; public double autoSpeedAdjust = SwerveDriveConstants.Conversions.JOYSTICK_TO_METERS_PER_SECOND_SLOW;