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Add Motion Magic (Aux PID acting up)

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- Aux PID drifting and causing robot to slam into walls (Aux PID works everywhere else)
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keenandbuckley
2020-02-07 21:49:04 -07:00
parent 43d9e8aa99
commit 148ea4e941
4 changed files with 88 additions and 10 deletions
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src/main/java/frc4388/robot/Constants.java
+2 -2
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@@ -32,8 +32,8 @@ public final class Constants {
public static final Gains DRIVE_VELOCITY_GAINS = new Gains(0.0, 0.0, 0.0, 0.1, 0, 1.0);
public static final Gains DRIVE_TURNING_GAINS = new Gains(0.4, 0.0, 0.0, 0.0, 0, 0.3);
public static final Gains DRIVE_MOTION_MAGIC_GAINS = new Gains(0.2, 0.0, 0.0, 0.0, 0, 1.0);
public static final int DRIVE_CRUISE_VELOCITY = 2000;
public static final int DRIVE_ACCELERATION = 1000;
public static final int DRIVE_CRUISE_VELOCITY = 20000;
public static final int DRIVE_ACCELERATION = 7000;
/* Remote Sensors */
public final static int REMOTE_0 = 0;