Team4388/2024AcrossTheRidgebotiverse
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update speeds

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This commit is contained in:
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 class PIDConstants {
public static final int SWERVE_SLOT_IDX = 0; public static final int SWERVE_SLOT_IDX = 0;
public static final int SWERVE_PID_LOOP_IDX = 1; 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); 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 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_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_WHEEL_REV = 5.12;
public static final double MOTOR_REV_PER_STEER_REV = 12.8; public static final double MOTOR_REV_PER_STEER_REV = 12.8;
src/main/java/frc4388/robot/RobotContainer.java
+2 -2
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@@ -308,8 +308,8 @@ public class RobotContainer {
// ! /* Speed */ // ! /* Speed */
new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON) // final new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON) // final
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.setToTurbo())); .onTrue(new InstantCommand(() -> m_robotSwerveDrive.setToTurbo()))
// .onFalse(new InstantCommand(() -> m_robotSwerveDrive.setToFast())); .onFalse(new InstantCommand(() -> m_robotSwerveDrive.setToFast()));
new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON) // final new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON) // final
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.setToSlow())); .onTrue(new InstantCommand(() -> m_robotSwerveDrive.setToSlow()));
src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+1 -1
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@@ -36,7 +36,7 @@ public class SwerveDrive extends SubsystemBase {
private RobotGyro gyro; 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 rotSpeedAdjust = SwerveDriveConstants.MIN_ROT_SPEED;
public double autoSpeedAdjust = SwerveDriveConstants.Conversions.JOYSTICK_TO_METERS_PER_SECOND_SLOW; public double autoSpeedAdjust = SwerveDriveConstants.Conversions.JOYSTICK_TO_METERS_PER_SECOND_SLOW;