Team4388/RiseOfRidgebotics2020
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work done on PID

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in better state than last time but still bad
This commit is contained in:
Keenan D. Buckley
2020-01-27 19:06:23 -07:00
parent dec773cdcd
commit 9b6c6ec658
4 changed files with 67 additions and 38 deletions
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src/main/java/frc4388/robot/Constants.java
+2 -2
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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, 1.0);
public static final Gains DRIVE_VELOCITY_GAINS = new Gains(0.1, 0.0, 0.0, 0.0, 0, 1.0);
public static final Gains DRIVE_TURNING_GAINS = new Gains(0.2, 0.0, 0.0, 0.0, 0, 1.0);
public static final Gains DRIVE_VELOCITY_GAINS = new Gains(0.1, 0.0, 0.0, 0.0, 0, 0.3);
public static final Gains DRIVE_TURNING_GAINS = new Gains(0.01, 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 = 15000;
public static final int DRIVE_ACCELERATION = 6000;