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Do Cleanup, Constants, and Docs

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This commit is contained in:
Keenan D. Buckley
2020-01-18 16:12:56 -07:00
parent 4568e31036
commit 41ab970692
2 changed files with 31 additions and 38 deletions
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src/main/java/frc4388/robot/Constants.java
+16 -2
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@@ -27,10 +27,24 @@ public final class Constants {
public static final int PIGEON_ID = 6;
/* PID Constants Drive*/
public static final int DRIVE_SLOT_IDX = 0;
public static final int DRIVE_PID_LOOP_IDX = 0;
public static final int DRIVE_TIMEOUT_MS = 30;
public static final Gains DRIVE_GAINS = new Gains(0.2, 0.0, 0.0, 0.2, 0, 1.0);
public static final int DRIVE_CRUISE_VELOCITY = 15000;
public static final int DRIVE_ACCELERATION = 6000;
/* Remote Sensors */
public final static int REMOTE_0 = 0;
public final static int REMOTE_1 = 1;
/* PID Indexes */
public final static int PID_PRIMARY = 0;
public final static int PID_TURN = 1;
/* PID SLOTS */
public final static int SLOT_DISTANCE = 0;
public final static int SLOT_VELOCITY = 1;
public final static int SLOT_TURNING = 2;
public final static int SLOT_MOTION_MAGIC = 3;
/* Drive Train Characteristics */
public static final double TICKS_PER_MOTOR_REV = 2048;