KeshavAnandCode/FTCDecodeMain
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middle of tuning

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This commit is contained in:
DanTheMan-byte
2026-06-02 17:04:28 -05:00
parent 82c8ebf941
commit 75b9b7b6b1
1 changed files with 10 additions and 7 deletions
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17
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Constants.java
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@@ -18,9 +18,12 @@ import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
public class Constants {
public static FollowerConstants followerConstants = new FollowerConstants()
.mass(14.37888)
.forwardZeroPowerAcceleration(-29.512)
.lateralZeroPowerAcceleration(-72.872)
.centripetalScaling(0);
.forwardZeroPowerAcceleration(-30.322)
.lateralZeroPowerAcceleration(-60.876)
.translationalPIDFCoefficients(new PIDFCoefficients(0.15, 0, 0.015, 0.02))
.headingPIDFCoefficients(new PIDFCoefficients(1, 0, 0.02, 0.02))
.drivePIDFCoefficients(new FilteredPIDFCoefficients(0.02, 0, 0.00001, 0.6, 0.015))
.centripetalScaling(0.0005);
public static MecanumConstants driveConstants = new MecanumConstants()
.maxPower(1)
@@ -32,15 +35,15 @@ public class Constants {
.leftRearMotorDirection(DcMotorSimple.Direction.REVERSE)
.rightFrontMotorDirection(DcMotorSimple.Direction.FORWARD)
.rightRearMotorDirection(DcMotorSimple.Direction.FORWARD)
.xVelocity(64.675)
.yVelocity(49.583);
.xVelocity(84.376)
.yVelocity(64.052);
public static double breakingStrength = 1;
public static PathConstraints pathConstraints = new PathConstraints(0.99, 100, breakingStrength, 1);
public static PinpointConstants localizerConstants = new PinpointConstants()
.forwardPodY(-3.676)
.strafePodX(3.780)
.forwardPodY(3.7795)
.strafePodX(-3.676)
.distanceUnit(DistanceUnit.INCH)
.hardwareMapName("pinpoint")
.encoderResolution(GoBildaPinpointDriver.GoBildaOdometryPods.goBILDA_4_BAR_POD)