karx/FreeOfCharge2022-23
1
1
Fork 0
Code Issues Pull requests Packages Projects Releases Wiki Activity

tuning pain and suffering

Browse source
This commit is contained in:
Yash Karandikar 2022-11-07 18:25:38 -06:00
parent 21c31a00c2
commit 3930539092
1 changed files with 5 additions and 5 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

10
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/DriveConstants.java
View file

@ -33,7 +33,7 @@ public class DriveConstants {
* If using the built-in motor velocity PID, update MOTOR_VELO_PID with the tuned coefficients
* from DriveVelocityPIDTuner.
*/
public static final boolean RUN_USING_ENCODER = true;
public static final boolean RUN_USING_ENCODER = false;
public static PIDFCoefficients MOTOR_VELO_PID = new PIDFCoefficients(0, 0, 0,
getMotorVelocityF(MAX_RPM / 60 * TICKS_PER_REV));
@ -55,9 +55,9 @@ public class DriveConstants {
* motor encoders or have elected not to use them for velocity control, these values should be
* empirically tuned.
*/
public static double kV = 1.0 / rpmToVelocity(MAX_RPM);
public static double kA = 0;
public static double kStatic = 0;
public static double kV = 1;
public static double kA = 0.00017;
public static double kStatic = 0.01834;
/*
* These values are used to generate the trajectories for you robot. To ensure proper operation,
@ -87,7 +87,7 @@ public class DriveConstants {
* You are free to raise this on your own if you would like. It is best determined through experimentation.
*/
public static double MAX_VEL = 39.4224324932042;
public static double MAX_VEL = 27;
public static double MAX_ACCEL = 39.4224324932042;
public static double MAX_ANG_VEL = Math.toRadians(141.1711875);
public static double MAX_ANG_ACCEL = Math.toRadians(141.1711875);