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Turn Degrees command works, Keenan did work on Dead Assist Control Mode

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Aarav Shah
2020-02-21 19:44:51 -07:00
parent e5a9d0c364
commit 9f1aff6c8d
5 changed files with 114 additions and 15 deletions
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src/main/java/frc4388/robot/Constants.java
+2 -2
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@@ -30,8 +30,8 @@ public final class Constants {
/* PID Constants Drive*/
public static final int DRIVE_TIMEOUT_MS = 30;
public static final Gains DRIVE_DISTANCE_GAINS = new Gains(0.1, 0.0, 1.0, 0.0, 0, 0.3);
public static final Gains DRIVE_VELOCITY_GAINS = new Gains(0.1, 0.0, 0.2, 0.025, 0, 0.05);
public static final Gains DRIVE_TURNING_GAINS = new Gains(0.5, 0.0, 0.05, 0.0, 0, 0.5);
public static final Gains DRIVE_VELOCITY_GAINS = new Gains(0.1, 0.0, 0.2, 0.025, 0, 0.45);
public static final Gains DRIVE_TURNING_GAINS = new Gains(0.5, 0.0, 0.05, 0.0, 0, 0.45);
//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;