KeshavAnandCode/FTCDecodeMain
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tuned translational pidf

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DanTheMan-byte
2026-04-10 21:52:56 -05:00
parent 6a3f65d4c5
commit 1723f6f85d
2 changed files with 9 additions and 2 deletions
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9
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Constants.java
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@@ -1,5 +1,7 @@
package org.firstinspires.ftc.teamcode.pedroPathing; package org.firstinspires.ftc.teamcode.pedroPathing;
import com.acmerobotics.dashboard.config.Config;
import com.pedropathing.control.PIDFCoefficients;
import com.pedropathing.follower.Follower; import com.pedropathing.follower.Follower;
import com.pedropathing.follower.FollowerConstants; import com.pedropathing.follower.FollowerConstants;
import com.pedropathing.ftc.FollowerBuilder; import com.pedropathing.ftc.FollowerBuilder;
@@ -11,12 +13,15 @@ import com.qualcomm.robotcore.hardware.DcMotorSimple;
import com.qualcomm.robotcore.hardware.HardwareMap; import com.qualcomm.robotcore.hardware.HardwareMap;
import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit; import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
@Config
public class Constants { public class Constants {
public static FollowerConstants followerConstants = new FollowerConstants() public static FollowerConstants followerConstants = new FollowerConstants()
.mass(15.5) .mass(15.5)
.forwardZeroPowerAcceleration(-29.512) .forwardZeroPowerAcceleration(-29.512)
.lateralZeroPowerAcceleration(-72.872); .lateralZeroPowerAcceleration(-72.872)
.translationalPIDFCoefficients(new PIDFCoefficients(0.35, 0, 0.03, 0.012));
public static int DEBUG_VAR = 0;
public static MecanumConstants driveConstants = new MecanumConstants() public static MecanumConstants driveConstants = new MecanumConstants()
.maxPower(1) .maxPower(1)

2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Tuning.java
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@@ -10,6 +10,7 @@ import static org.firstinspires.ftc.teamcode.pedroPathing.Tuning.telemetryM;
import android.annotation.SuppressLint; import android.annotation.SuppressLint;
import com.acmerobotics.dashboard.config.Config;
import com.bylazar.configurables.PanelsConfigurables; import com.bylazar.configurables.PanelsConfigurables;
import com.bylazar.configurables.annotations.Configurable; import com.bylazar.configurables.annotations.Configurable;
import com.bylazar.configurables.annotations.IgnoreConfigurable; import com.bylazar.configurables.annotations.IgnoreConfigurable;
@@ -44,6 +45,7 @@ import java.util.List;
* @version 1.0, 6/26/2025 * @version 1.0, 6/26/2025
*/ */
@Configurable @Configurable
@Config
@TeleOp(name = "Tuning", group = "Pedro Pathing") @TeleOp(name = "Tuning", group = "Pedro Pathing")
public class Tuning extends SelectableOpMode { public class Tuning extends SelectableOpMode {
public static Follower follower; public static Follower follower;