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Replaced GotoCoordinate with Distance PID instead Motion Magic

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Aarav Shah
2020-02-29 11:08:38 -07:00
parent f62b51a108
commit f7d8d41445
4 changed files with 9 additions and 6 deletions
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src/main/java/frc4388/robot/Constants.java
+1 -1
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@@ -54,7 +54,7 @@ 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(0.2, 0.0, 0.0, 0.0, 0, 1.0);
public static final Gains DRIVE_MOTION_MAGIC_GAINS_LOW = new Gains(0.1, 0.0, 0.0, 0.0, 0, 1.0);
public static final int DRIVE_CRUISE_VELOCITY = 25000;
public static final int DRIVE_ACCELERATION = 21000;