KeshavAnandCode/FTCDecodeMain
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umiddle of tuning

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This commit is contained in:
DanTheMan-byte
2026-06-02 15:58:49 -05:00
parent f14dc3681a
commit 82c8ebf941
1 changed files with 3 additions and 6 deletions
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9
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Constants.java
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@@ -20,10 +20,7 @@ public class Constants {
.mass(14.37888) .mass(14.37888)
.forwardZeroPowerAcceleration(-29.512) .forwardZeroPowerAcceleration(-29.512)
.lateralZeroPowerAcceleration(-72.872) .lateralZeroPowerAcceleration(-72.872)
.translationalPIDFCoefficients(new PIDFCoefficients(0.35, 0, 0.03, 0.012)) .centripetalScaling(0);
.headingPIDFCoefficients(new PIDFCoefficients(1, 0, 0.025, 0.02))
.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)
@@ -42,8 +39,8 @@ public class Constants {
public static PathConstraints pathConstraints = new PathConstraints(0.99, 100, breakingStrength, 1); public static PathConstraints pathConstraints = new PathConstraints(0.99, 100, breakingStrength, 1);
public static PinpointConstants localizerConstants = new PinpointConstants() public static PinpointConstants localizerConstants = new PinpointConstants()
.forwardPodY(-7.5) .forwardPodY(-3.676)
.strafePodX(-3.75) .strafePodX(3.780)
.distanceUnit(DistanceUnit.INCH) .distanceUnit(DistanceUnit.INCH)
.hardwareMapName("pinpoint") .hardwareMapName("pinpoint")
.encoderResolution(GoBildaPinpointDriver.GoBildaOdometryPods.goBILDA_4_BAR_POD) .encoderResolution(GoBildaPinpointDriver.GoBildaOdometryPods.goBILDA_4_BAR_POD)