Team4388/2024AcrossTheRidgebotiverse
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florida comp

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This commit is contained in:
Abhishrek05
2024-03-06 16:29:42 -07:00
parent c5f5e6c57f
commit a7e9ef9951
10 changed files with 225 additions and 33 deletions
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src/main/java/frc4388/robot/Constants.java
+7 -5
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@@ -25,21 +25,23 @@ import frc4388.utility.Gains;
public final class Constants {
public static final class SwerveDriveConstants {
public static final double MAX_ROT_SPEED = 1.5;
public static final double MAX_ROT_SPEED = 3.5;
public static final double AUTO_MAX_ROT_SPEED = 1.5;
public static final double MIN_ROT_SPEED = 0.8;
public static double ROTATION_SPEED = MAX_ROT_SPEED;
public static double PLAYBACK_ROTATION_SPEED = AUTO_MAX_ROT_SPEED;
public static double ROT_CORRECTION_SPEED = 10; // MIN_ROT_SPEED;
public static final double CORRECTION_MIN = 10;
public static final double CORRECTION_MAX = 50;
public static final double SLOW_SPEED = 0.4;
public static final double SLOW_SPEED = 0.2;
public static final double FAST_SPEED = 1.0;
public static final double TURBO_SPEED = 4.0;
public static final class DefaultSwerveRotOffsets {
public static final double FRONT_LEFT_ROT_OFFSET = 130.957 + 90;
public static final double FRONT_RIGHT_ROT_OFFSET = 77.783 + 90;//-202.588;
public static final double FRONT_RIGHT_ROT_OFFSET = 77.783 + 45 + 90 ;//-202.588;
public static final double BACK_LEFT_ROT_OFFSET = 347.871 + 90;
public static final double BACK_RIGHT_ROT_OFFSET = 52.646 + 90;
}
@@ -65,7 +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, 1.0);
public static final Gains SWERVE_GAINS = new Gains(1.2, 0.0, 0.1, 0.0, 0, 1.0);
}
public static final class AutoConstants {
@@ -168,7 +170,7 @@ public final class Constants {
public static final class ShooterConstants {
public static final int LEFT_SHOOTER_ID = 15; // final
public static final int RIGHT_SHOOTER_ID = 16; // final
public static final double SHOOTER_SPEED = 0.40; // final
public static final double SHOOTER_SPEED = 0.50; // final
public static final double SHOOTER_IDLE = 0.35; // final
public static final double SHOOTER_IDLE_LIMELIGHT = 0.8;
}