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Switched All PIDs to High Gear

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Motion Magic and Position need testing.
This commit is contained in:
Aarav Shah
2020-03-01 13:34:54 -07:00
parent 26a208524e
commit 92df6a3d5f
3 changed files with 14 additions and 4 deletions
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src/main/java/frc4388/robot/Constants.java
+1 -1
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@@ -58,7 +58,7 @@ public final class Constants {
public static final int DRIVE_CRUISE_VELOCITY = 30000;
public static final int DRIVE_ACCELERATION = 23000;
public static final Gains DRIVE_DISTANCE_GAINS_HIGH = new Gains(0.0, 0.0, 0.0, 0.0, 0, 0.5);
public static final Gains DRIVE_DISTANCE_GAINS_HIGH = new Gains(0.1, 0.0, 0.0, 0.0, 0, 0.5);
public static final Gains DRIVE_VELOCITY_GAINS_HIGH = new Gains(0.1, 0.0, 0.0, 0.0, 0, 1.0);
public static final Gains DRIVE_TURNING_GAINS_HIGH = new Gains(0.2, 0.0, 0.0, 0.0, 0, 0.55);
public static final Gains DRIVE_MOTION_MAGIC_GAINS_HIGH = new Gains(0.1, 0.0, 0.0, 0.0, 0, 1.0);