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Setup Turn Rate and Constants to be used in Ramsete

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This commit is contained in:
Keenan D. Buckley
2020-02-12 22:15:50 -07:00
parent f7782c8acd
commit 3a40b44ff6
2 changed files with 31 additions and 1 deletions
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src/main/java/frc4388/robot/Constants.java
+7
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@@ -7,6 +7,7 @@
package frc4388.robot;
import edu.wpi.first.wpilibj.kinematics.DifferentialDriveKinematics;
import frc4388.utility.LEDPatterns;
/**
@@ -35,6 +36,12 @@ public final class Constants {
public static final int DRIVE_CRUISE_VELOCITY = 20000;
public static final int DRIVE_ACCELERATION = 7000;
/* Trajectory Constants */
public static final double kMaxSpeedMetersPerSecond = 3;
public static final double kMaxAccelerationMetersPerSecondSquared = 3;
public static final double kTrackwidthMeters = 0.69; ///TODO: SET THIS SOON!
public static final DifferentialDriveKinematics kDriveKinematics = new DifferentialDriveKinematics(kTrackwidthMeters);
/* Remote Sensors */
public final static int REMOTE_0 = 0;
public final static int REMOTE_1 = 1;