Team4388/RiseOfRidgebotics2020
1
0
Fork 0
mirror of https://github.com/Team4388/RiseOfRidgebotics2020.git synced 2026-06-09 00:38:00 -06:00
Code Issues Packages Projects Releases Wiki Activity

Rearange Drive Constants

Browse Source
This commit is contained in:
Keenan D. Buckley
2020-02-26 08:25:39 -07:00
parent 03a9e063b9
commit 553aa6ad94
1 changed files with 10 additions and 10 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/main/java/frc4388/robot/Constants.java
+10 -10
View File
@@ -36,14 +36,21 @@ public final class Constants {
public static final boolean isAuxPIDInverted = false;
/* Drive Configuration */
public static final double OPEN_LOOP_RAMP_RATE = 0.1;
public static final int DRIVE_TIMEOUT_MS = 30; // Use for all motor config
public static final double OPEN_LOOP_RAMP_RATE = 0.1; // Seconds from 0 to full power on motor
public static final double NEUTRAL_DEADBAND = 0.04;
public static final SupplyCurrentLimitConfiguration SUPPLY_CURRENT_LIMIT_CONFIG =
new SupplyCurrentLimitConfiguration(false, 40, 35, 0.01);
public static final int CLOSED_LOOP_TIME_MS = 1;
public static final int CLOSED_LOOP_TIME_MS = 1; // Higher numbers mean slower control loops
/* Drive Train Characteristics */
public static final double MOTOR_ROT_PER_WHEEL_ROT_HIGH = 5.13;
public static final double MOTOR_ROT_PER_WHEEL_ROT_LOW = 15;
public static final double WHEEL_DIAMETER_INCHES = 6;
public static final double TICKS_PER_GYRO_REV = 8192;
public static final double TICKS_PER_MOTOR_REV = 2048;
/* PID Constants Drive*/
public static final int DRIVE_TIMEOUT_MS = 30;
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);
@@ -78,13 +85,6 @@ public final class Constants {
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;
public static final double MOTOR_ROT_PER_WHEEL_ROT_HIGH = 5.13;
public static final double MOTOR_ROT_PER_WHEEL_ROT_LOW = 15;
public static final double WHEEL_DIAMETER_INCHES = 6;
public static final double TICKS_PER_GYRO_REV = 8192;
/* Ratio Calculation */
public static final double INCHES_PER_WHEEL_REV = WHEEL_DIAMETER_INCHES * Math.PI;
public static final double TICK_TIME_TO_SECONDS = 0.1;