Team4388/2024AcrossTheRidgebotiverse
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Michael Mikovsky
2024-08-29 17:03:25 -06:00
parent 721f160f37
commit a10ccf2cb2
3 changed files with 5 additions and 5 deletions
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src/main/java/frc4388/robot/Constants.java
+2 -2
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@@ -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;