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Account for High gear being a nice boy

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This commit is contained in:
Aarav Shah
2020-02-21 22:03:41 -07:00
parent 5f989fb21a
commit 5015432107
3 changed files with 121 additions and 46 deletions
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src/main/java/frc4388/robot/Constants.java
+9
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@@ -33,6 +33,15 @@ public final class Constants {
public static final Gains DRIVE_VELOCITY_GAINS = new Gains(0.1, 0.0, 0.2, 0.025, 0, 1.0);
public static final Gains DRIVE_TURNING_GAINS = new Gains(0.5, 0.0, 0.05, 0.0, 0, 0.55);
public static final Gains DRIVE_MOTION_MAGIC_GAINS = 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;
public static final Gains DRIVE_DISTANCE_GAINS_HIGH = new Gains(0.05, 0.0, 0.0, 0.0, 0, 0.5);
public static final Gains DRIVE_VELOCITY_GAINS_HIGH = new Gains(0.0, 0.0, 0.0, 0.0, 0, 1.0);
public static final Gains DRIVE_TURNING_GAINS_HIGH = new Gains(0.0, 0.0, 0.0, 0.0, 0, 0.55);
public static final Gains DRIVE_MOTION_MAGIC_GAINS_HIGH = new Gains(0.0, 0.0, 0.0, 0.0, 0, 1.0);
public static final int DRIVE_CRUISE_VELOCITY_HIGH = 20000;
public static final int DRIVE_ACCELERATION_HIGH = 7000;
/* Trajectory Constants */
public static final double MAX_SPEED_METERS_PER_SECOND = 3;