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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/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() {