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This commit is contained in:
Michael Mikovsky
2025-07-29 10:02:59 -07:00
parent 0bb2a774d7
commit 849125882e
11 changed files with 206 additions and 75 deletions
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src/main/java/frc4388/robot/subsystems/differential/DiffConstants.java
+4 -1
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@@ -9,10 +9,13 @@ import frc4388.utility.structs.Gains;
public class DiffConstants {
public static final Distance WHEEL_RADIUS_TO_ARC = Inches.of(2.5).times(Math.PI * 2); //meters
public static final Distance WHEEL_RADIUS = Inches.of(2.5);
public static final Distance WHEEL_RADIUS_TO_ARC = WHEEL_RADIUS.times(Math.PI * 2); //meters
public static final Distance TRACK_DISPLACEMENT = Inches.of(6.5); //meters
public static final Distance TRACK_WIDTH = TRACK_DISPLACEMENT.times(2);
public static final int ENCODER_TICKS_PER_ROTATION = 1100;
public static final Gains ROT_GAINS = new Gains(20, 0, 0);
public static final class IDs {