KeshavAnandCode/FTCDecodeMain
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DanTheMan-byte
2025-12-31 16:39:43 -06:00
parent 61f314d71d
commit 713bafd9b4
1 changed files with 12 additions and 12 deletions
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10
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/libs/RR/MecanumDrive.java
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@@ -73,13 +73,13 @@ public final class MecanumDrive {
public double kA = 0.000046; public double kA = 0.000046;
// path profile parameters (in inches) // path profile parameters (in inches)
public double maxWheelVel = 120; public double maxWheelVel = 180;
public double minProfileAccel = -30; public double minProfileAccel = -40;
public double maxProfileAccel = 120; public double maxProfileAccel = 180;
// turn profile parameters (in radians) // turn profile parameters (in radians)
public double maxAngVel = 2* Math.PI; // shared with path public double maxAngVel = 4* Math.PI; // shared with path
public double maxAngAccel = 2* Math.PI; public double maxAngAccel = 4* Math.PI;
// path controller gains // path controller gains
public double axialGain = 4; public double axialGain = 4;