From 361145b7f8a31de5e6ea85fd1fe297097b8cf563 Mon Sep 17 00:00:00 2001 From: Aarav Shah Date: Sat, 29 Feb 2020 12:11:10 -0700 Subject: [PATCH] Motion Magic Tunin Got it to drive straight at lower speeds. --- src/main/java/frc4388/robot/Constants.java | 2 +- src/main/java/frc4388/robot/RobotContainer.java | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index 3f1d249..fd1e83d 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -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; diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index a00158e..9737315 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -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)