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Merge branch 'master' into auto-programming

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This commit is contained in:
Keenan D. Buckley
2020-02-26 07:03:14 +00:00
committed by GitHub
parent 606168599c 03a9e063b9
commit e586627fdd
5 changed files with 440 additions and 442 deletions
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src/main/java/frc4388/robot/Constants.java
+15
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@@ -7,6 +7,8 @@
package frc4388.robot;
import com.ctre.phoenix.motorcontrol.SupplyCurrentLimitConfiguration;
import edu.wpi.first.wpilibj.kinematics.DifferentialDriveKinematics;
import frc4388.utility.LEDPatterns;
@@ -29,6 +31,19 @@ public final class Constants {
public static final int DRIVE_RIGHT_BACK_CAN_ID = 5;
public static final int PIGEON_ID = 6;
/* Drive Inversions */
public static final boolean isRightMotorInverted = false;
public static final boolean isLeftMotorInverted = false;
public static final boolean isRightArcadeInverted = false;
public static final boolean isAuxPIDInverted = false;
/* Drive Configuration */
public static final double OPEN_LOOP_RAMP_RATE = 0.1;
public static final double NEUTRAL_DEADBAND = 0.04;
public static final SupplyCurrentLimitConfiguration SUPPLY_CURRENT_LIMIT_CONFIG =
new SupplyCurrentLimitConfiguration(false, 40, 35, 0.01);
public static final int CLOSED_LOOP_TIME_MS = 1;
/* PID Constants Drive*/
public static final int DRIVE_TIMEOUT_MS = 30;
public static final Gains DRIVE_DISTANCE_GAINS_LOW = new Gains(0.1, 0.0, 1.0, 0.0, 0, 0.5);