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Set up back motor master and tune PIDs

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This commit is contained in:
Keenan D. Buckley
2020-02-17 13:06:51 -07:00
parent 0e696c73ed
commit c39ec549a9
4 changed files with 124 additions and 66 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(0.2, 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_VELOCITY_GAINS = new Gains(0.05, 0.0, 0.0, 0.025, 0, 1.0);
public static final Gains DRIVE_TURNING_GAINS = new Gains(0.5, 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;