From ad5125ff4be87593b8e803bbd231961c63d3c1ed Mon Sep 17 00:00:00 2001 From: "Keenan D. Buckley" Date: Wed, 12 Feb 2020 20:42:45 -0700 Subject: [PATCH] Messing with Constants to make DriveTrain more responsive when in Dead Assist - 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. --- src/main/java/frc4388/robot/Constants.java | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index bcd15f8..e05af11 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -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;