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Messing with Constants to make DriveTrain more responsive when in Dead Assist

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- Added a P to Velocity Control to make robot resist being pushed.
- Upped the Output Limit on the Turning PID to allow it to be more aggressive.
This commit is contained in:
Keenan D. Buckley
2020-02-12 20:42:45 -07:00
parent b9919693cd
commit ad5125ff4b
1 changed files with 2 additions and 2 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, 0.3);
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_VELOCITY_GAINS = new Gains(0.1, 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, 0.5);
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;