KeshavAnandCode/FTCDecodeMain
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done tuning pedro pathing

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This commit is contained in:
DanTheMan-byte
2026-04-14 21:21:28 -05:00
parent a8d28928e2
commit 4cbb09e088
2 changed files with 3 additions and 2 deletions
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3
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Constants.java
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@@ -22,7 +22,8 @@ public class Constants {
.lateralZeroPowerAcceleration(-72.872) .lateralZeroPowerAcceleration(-72.872)
.translationalPIDFCoefficients(new PIDFCoefficients(0.35, 0, 0.03, 0.012)) .translationalPIDFCoefficients(new PIDFCoefficients(0.35, 0, 0.03, 0.012))
.headingPIDFCoefficients(new PIDFCoefficients(1, 0, 0.02, 0.02)) .headingPIDFCoefficients(new PIDFCoefficients(1, 0, 0.02, 0.02))
.drivePIDFCoefficients(new FilteredPIDFCoefficients(0.03, 0, 0, 0.6, 0.03)); .drivePIDFCoefficients(new FilteredPIDFCoefficients(0.03, 0, 0, 0.6, 0.03))
.centripetalScaling(0.0005);
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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@@ -114,7 +114,7 @@ public class Tuning extends SelectableOpMode {
public static void drawCurrent() { public static void drawCurrent() {
try { try {
Drawing.drawRobot(follower.getPose(), "blue"); Drawing.drawRobot(follower.getPose(), "green");
Drawing.sendPacket(); Drawing.sendPacket();
} catch (Exception e) { } catch (Exception e) {
throw new RuntimeException("Drawing failed " + e); throw new RuntimeException("Drawing failed " + e);