Team4388/2026KPopRobotHunters
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Add aim lead

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This commit is contained in:
Michael Mikovsky
2026-01-18 12:53:07 -07:00
parent a27cde3f84
commit c68329c9ca
6 changed files with 55 additions and 27 deletions
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src/main/java/frc4388/robot/subsystems/swerve/SwerveDriveConstants.java
+12
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@@ -22,6 +22,7 @@ import com.ctre.phoenix6.swerve.SwerveModuleConstantsFactory;
import edu.wpi.first.units.measure.Distance;
import edu.wpi.first.units.measure.Angle;
import frc4388.utility.configurable.ConfigurableDouble;
//import edu.wpi.first.units.measure.measure.Distance;
import frc4388.utility.status.CanDevice;
import frc4388.utility.structs.Gains;
@@ -37,6 +38,9 @@ public final class SwerveDriveConstants {
public static double PLAYBACK_ROTATION_SPEED = AUTO_MAX_ROT_SPEED;
public static double ROT_CORRECTION_SPEED = 10; // MIN_ROT_SPEED;
// TODO: Replace with a constant
public static final ConfigurableDouble AIM_LEAD_TIME = new ConfigurableDouble("Aim lead time", 0);
public static final double CORRECTION_MIN = 10;
public static final double CORRECTION_MAX = 50;
@@ -156,6 +160,14 @@ public final class SwerveDriveConstants {
public static final Gains DRIFT_CORRECTION_GAINS = new Gains(2.5, 0, 0.1);
public static final Gains RELATIVE_LOCKED_ANGLE_GAINS = new Gains(10, 0, 1);
// TODO: Replace this with a static constant
public static final ConfigurableDouble AIM_kP = new ConfigurableDouble("Aim kP", 2.5);
public static final ConfigurableDouble AIM_kI = new ConfigurableDouble("Aim kI", 0);
public static final ConfigurableDouble AIM_kD = new ConfigurableDouble("Aim kD", 0.1);
// public static final Gains AIM_GAINS = new Gains(2.5, 0, 0.1);
}
public static final class Configurations {