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Motion Magic Tunin

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Got it to drive straight at lower speeds.
This commit is contained in:
Aarav Shah
2020-02-29 12:11:10 -07:00
parent a95e43d02d
commit 361145b7f8
2 changed files with 2 additions and 2 deletions
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src/main/java/frc4388/robot/Constants.java
+1 -1
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@@ -54,7 +54,7 @@ public final class Constants {
public static final Gains DRIVE_DISTANCE_GAINS_LOW = new Gains(0.1, 0.0, 1.0, 0.0, 0, 0.5);
public static final Gains DRIVE_VELOCITY_GAINS_LOW = new Gains(0.1, 0.0, 0.2, 0.025, 0, 1.0);
public static final Gains DRIVE_TURNING_GAINS_LOW = new Gains(0.5, 0.0, 0.0, 0.0, 0, 0.55);
public static final Gains DRIVE_MOTION_MAGIC_GAINS_LOW = new Gains(0.1, 0.0, 0.0, 0.0, 0, 1.0);
public static final Gains DRIVE_MOTION_MAGIC_GAINS_LOW = new Gains(0.1, 0.0, 0.2, 0.05, 0, 1.0);
public static final int DRIVE_CRUISE_VELOCITY = 25000;
public static final int DRIVE_ACCELERATION = 21000;
src/main/java/frc4388/robot/RobotContainer.java
+1 -1
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@@ -117,7 +117,7 @@ public class RobotContainer {
/* Test Buttons */
// A driver test button
new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON)
.whenPressed(new DriveStraightToPositionMM(m_robotDrive, 60));
.whenPressed(new DriveStraightToPositionMM(m_robotDrive, 240));
// B driver test button
new JoystickButton(getDriverJoystick(), XboxController.B_BUTTON)