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Tune the teleop controller

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This commit is contained in:
Keenan D. Buckley
2020-02-18 17:29:26 -07:00
parent b729d04db4
commit c5011b72d7
3 changed files with 44 additions and 31 deletions
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src/main/java/frc4388/robot/Constants.java
+6 -6
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@@ -29,12 +29,12 @@ 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(0.05, 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;
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, 0.0, 0.05, 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;
/* Trajectory Constants */
public static final double MAX_SPEED_METERS_PER_SECOND = 3;