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Tuned Motion Magic Gains pretty well

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This commit is contained in:
Aarav Shah
2020-02-29 16:01:39 -07:00
parent 48b303fdfe
commit d8f15ccdb0
2 changed files with 6 additions and 6 deletions
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src/main/java/frc4388/robot/Constants.java
+3 -3
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@@ -54,9 +54,9 @@ public final class Constants {
public static final Gains DRIVE_DISTANCE_GAINS_LOW = new Gains(0.1, 0.0, 1.0, 0.0, 0, 0.5);
public static final Gains DRIVE_VELOCITY_GAINS_LOW = new Gains(0.1, 0.0, 0.2, 0.025, 0, 1.0);
public static final Gains DRIVE_TURNING_GAINS_LOW = new Gains(0.5, 0.0, 0.0, 0.0, 0, 0.55);
public static final Gains DRIVE_MOTION_MAGIC_GAINS_LOW = new Gains(0.1, 0.0, 0.2, 0.05, 0, 1.0);
public static final int DRIVE_CRUISE_VELOCITY = 25000;
public static final int DRIVE_ACCELERATION = 21000;
public static final Gains DRIVE_MOTION_MAGIC_GAINS_LOW = new Gains(0.1, 0.0, 0, 0.025, 0, 1.0);
public static final int DRIVE_CRUISE_VELOCITY = 30000;
public static final int DRIVE_ACCELERATION = 23000;
public static final Gains DRIVE_DISTANCE_GAINS_HIGH = new Gains(0.0, 0.0, 0.0, 0.0, 0, 0.5);
public static final Gains DRIVE_VELOCITY_GAINS_HIGH = new Gains(0.0, 0.0, 0.0, 0.0, 0, 1.0);
src/main/java/frc4388/robot/RobotContainer.java
+3 -3
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@@ -119,7 +119,7 @@ public class RobotContainer {
/* Test Buttons */
// A driver test button
new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON)
.whenPressed(new DriveStraightToPositionMM(m_robotDrive, 24));
.whenPressed(new DriveStraightToPositionMM(m_robotDrive, 12));
// B driver test button
new JoystickButton(getDriverJoystick(), XboxController.B_BUTTON)
@@ -191,8 +191,8 @@ public class RobotContainer {
RamseteCommand ramseteCommand = getRamseteCommand(trajectory);
// Run path following command, then stop at the end.
//return ramseteCommand.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
//return new AutoPath1FromCenter(m_robotDrive);
return new AutoPath2FromRight(m_robotDrive);
return new AutoPath1FromCenter(m_robotDrive);
//return new AutoPath2FromRight(m_robotDrive);
}
TrajectoryConfig getTrajectoryConfig() {