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Fix Ramsete

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This commit is contained in:
Keenan D. Buckley
2020-03-07 09:10:29 -07:00
parent 8f08a14e5c
commit 3bbd00e0f6
3 changed files with 35 additions and 23 deletions
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src/main/java/frc4388/robot/Constants.java
+4 -2
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@@ -70,9 +70,11 @@ public final class Constants {
public static final int DRIVE_CRUISE_VELOCITY_HIGH = 20000;
public static final int DRIVE_ACCELERATION_HIGH = 7000;
public static final Gains DRIVE_VELOCITY_GAINS_BACK = new Gains(0.0, 0.0, 0.0, 0.0518, 0, 1.0);
/* Trajectory Constants */
public static final double MAX_SPEED_METERS_PER_SECOND = 3;
public static final double MAX_ACCELERATION_METERS_PER_SECOND_SQUARED = 3;
public static final double MAX_SPEED_METERS_PER_SECOND = 1;
public static final double MAX_ACCELERATION_METERS_PER_SECOND_SQUARED = 1.0;
public static final double TRACK_WIDTH_METERS = 0.648;
public static final DifferentialDriveKinematics kDriveKinematics = new DifferentialDriveKinematics(TRACK_WIDTH_METERS);