Team4388/2025RidgeScape
1
0
Fork 0
mirror of https://github.com/Team4388/2025RidgeScape.git synced 2026-06-09 00:38:02 -06:00
Code Issues Packages Projects Releases Wiki Activity

Work on Autos

Browse Source
This commit is contained in:
Michael Mikovsky
2025-03-05 19:42:36 -07:00
parent aeedebd095
commit a6daadb537
15 changed files with 191 additions and 93 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/main/java/frc4388/robot/Constants.java
+4 -4
View File
@@ -193,7 +193,7 @@ public final class Constants {
.withKS(0).withKV(0.124);
public static final Gains DRIFT_CORRECTION_GAINS = new Gains(2.5, 0, 0.1);
public static final Gains RELATIVE_LOCKED_ANGLE_GAINS = new Gains(5, 0, 0.1); // TODO: TEST
public static final Gains RELATIVE_LOCKED_ANGLE_GAINS = new Gains(5, 0.2, 0.1); // TODO: TEST
}
public static final class Configurations {
@@ -294,7 +294,7 @@ public final class Constants {
}
public static final class AutoConstants {
public static final Gains XY_GAINS = new Gains(5,0.4,0.0);
public static final Gains XY_GAINS = new Gains(5,0.6,0.0);
// public static final Gains XY_GAINS = new Gains(3,0.3,0.0);
// public static final Gains ROT_GAINS = new Gains(0.05,0,0.007);
@@ -316,10 +316,10 @@ public final class Constants {
public static final double X_SCORING_POSITION_OFFSET = Units.inchesToMeters(6.5); // This is from the field
public static final double Y_SCORING_POSITION_OFFSET = Units.inchesToMeters(16);
public static final double L4_DISTANCE_PREP = Y_SCORING_POSITION_OFFSET + Units.inchesToMeters(12);
public static final double L4_DISTANCE_PREP = Y_SCORING_POSITION_OFFSET + Units.inchesToMeters(15);
public static final double L4_DISTANCE_SCORE = Y_SCORING_POSITION_OFFSET + Units.inchesToMeters(5.5);
public static final double L3_DISTANCE_PREP = Y_SCORING_POSITION_OFFSET + Units.inchesToMeters(12);
public static final double L3_DISTANCE_PREP = Y_SCORING_POSITION_OFFSET + Units.inchesToMeters(15);
public static final double L3_DISTANCE_SCORE = Y_SCORING_POSITION_OFFSET + Units.inchesToMeters(6);
public static final double L2_PREP_DISTANCE = Y_SCORING_POSITION_OFFSET + Units.inchesToMeters(6);