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Work on Broken PIDs

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Aarav Shah
2020-02-26 20:29:01 -07:00
parent afaae3ca1d
commit 3a3d10a382
7 changed files with 31 additions and 29 deletions
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src/main/java/frc4388/robot/Constants.java
+2 -2
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@@ -30,7 +30,7 @@ public final class Constants {
public static final int PIGEON_ID = 6;
/* Drive Inversions */
public static final boolean isRightMotorInverted = false;
public static final boolean isRightMotorInverted = true;
public static final boolean isLeftMotorInverted = false;
public static final boolean isRightArcadeInverted = false;
public static final boolean isAuxPIDInverted = false;
@@ -53,7 +53,7 @@ public final class Constants {
/* PID Constants Drive*/
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, 0.05, 0.0, 0, 0.55);
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(0.2, 0.0, 0.0, 0.0, 0, 1.0);
public static final int DRIVE_CRUISE_VELOCITY = 20000;
public static final int DRIVE_ACCELERATION = 7000;