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Got DriveStraightAtVelocityPID Working

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aarav18
2020-02-06 18:36:04 -07:00
parent 4dc07d718a
commit 987a3a2647
6 changed files with 155 additions and 114 deletions
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src/main/java/frc4388/robot/Constants.java
+3 -3
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@@ -29,8 +29,8 @@ public final class Constants {
/* PID Constants Drive*/
public static final int DRIVE_TIMEOUT_MS = 30;
public static final Gains DRIVE_DISTANCE_GAINS = new Gains(0.2, 0.0, 0.0, 0.0, 0, 0.3);
public static final Gains DRIVE_VELOCITY_GAINS = new Gains(0.0, 0.0, 0.0, 0.0448767878, 0, 1.0);
public static final Gains DRIVE_TURNING_GAINS = new Gains(0.0, 0.0, 0.0, 0.0, 0, 0.0);
public static final Gains DRIVE_VELOCITY_GAINS = new Gains(0.0, 0.0, 0.0, 0.1, 0, 1.0);
public static final Gains DRIVE_TURNING_GAINS = new Gains(0.4, 0.0, 0.0, 0.0, 0, 0.3);
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 = 2000;
public static final int DRIVE_ACCELERATION = 1000;
@@ -50,7 +50,7 @@ public final class Constants {
public final static int SLOT_MOTION_MAGIC = 3;
/* Drive Train Characteristics */
public static final double TICKS_PER_MOTOR_REV = 2048;
public static final double TICKS_PER_MOTOR_REV = 2048*2;
public static final double MOTOR_TO_WHEEL_GEAR_RATIO = 12.5;
public static final double WHEEL_DIAMETER_INCHES = 6;
public static final double TICKS_PER_GYRO_REV = 8192;