Team4388/2026KPopRobotHunters
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aim to hub pid fixes

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drift correction for aim to hub
This commit is contained in:
Shikhar
2026-02-28 10:45:46 -07:00
parent f3d16724cb
commit e196df029f
2 changed files with 2 additions and 1 deletions
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src/main/java/frc4388/robot/subsystems/swerve/SwerveDrive.java
+1
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@@ -282,6 +282,7 @@ public class SwerveDrive extends SubsystemBase implements Queryable {
leftStick = leftStick.rotateBy(TimesNegativeOne.ForwardOffset); leftStick = leftStick.rotateBy(TimesNegativeOne.ForwardOffset);
leftStick = TimesNegativeOne.invert(leftStick, TimesNegativeOne.XAxis, TimesNegativeOne.YAxis); leftStick = TimesNegativeOne.invert(leftStick, TimesNegativeOne.XAxis, TimesNegativeOne.YAxis);
rotTarget = heading.getDegrees();
var ctrl = new SwerveRequest.FieldCentricFacingAngle() var ctrl = new SwerveRequest.FieldCentricFacingAngle()
.withVelocityX(leftStick.getX() * speedAdjust) .withVelocityX(leftStick.getX() * speedAdjust)
src/main/java/frc4388/robot/subsystems/swerve/SwerveDriveConstants.java
+1 -1
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@@ -162,7 +162,7 @@ public final class SwerveDriveConstants {
// TODO: Replace this with a static constant // TODO: Replace this with a static constant
public static final ConfigurableDouble AIM_kP = new ConfigurableDouble("Aim kP", 15); public static final ConfigurableDouble AIM_kP = new ConfigurableDouble("Aim kP", 12);
public static final ConfigurableDouble AIM_kI = new ConfigurableDouble("Aim kI", 0); 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 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 Gains AIM_GAINS = new Gains(2.5, 0, 0.1);