SCDS/FTCRoadRunnerRobotics
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Latest configurations for black competition robot

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This commit is contained in:
Carlos
2024-09-19 17:17:53 -07:00
parent e534f46efb
commit 156423422c
3 changed files with 10 additions and 10 deletions
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12
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/PedroConstants.java
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@ -40,26 +40,26 @@ public class PedroConstants {
// Robot encoder direction
public static final double LEFT_ENCODER_DIRECTION = Encoder.FORWARD;
public static final double RIGHT_ENCODER_DIRECTION = Encoder.FORWARD;
public static final double BACK_ENCODER_DIRECTION = Encoder.FORWARD;
public static final double BACK_ENCODER_DIRECTION = Encoder.REVERSE;
/*
Pedro's parameters
*/
// The weight of the robot in Kilograms
public static final double ROBOT_WEIGHT_IN_KG = 8.5;
public static final double ROBOT_WEIGHT_IN_KG = 10.5;
// Maximum velocity of the robot going forward
public static final double ROBOT_SPEED_FORWARD = 81.34056;
public static final double ROBOT_SPEED_FORWARD = 72.0693;
// Maximum velocity of the robot going right
public static final double ROBOT_SPEED_LATERAL = 65.43028;
public static final double ROBOT_SPEED_LATERAL = 24.1401;
// Rate of deceleration when power is cut-off when the robot is moving forward
public static final double FORWARD_ZERO_POWER_ACCEL = -34.62719;
public static final double FORWARD_ZERO_POWER_ACCEL = -74.3779;
// Rate of deceleration when power is cut-off when the robot is moving to the right
public static final double LATERAL_ZERO_POWER_ACCEL = -78.15554;
public static final double LATERAL_ZERO_POWER_ACCEL = -111.8409;
// Determines how fast your robot will decelerate as a factor of how fast your robot will coast to a stop
public static final double ZERO_POWER_ACCEL_MULT = 4;

6
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/localizers/ThreeWheelIMULocalizer.java
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@ -65,9 +65,9 @@ public class ThreeWheelIMULocalizer extends Localizer {
private double previousIMUOrientation;
private double deltaRadians;
private double totalHeading;
public static double FORWARD_TICKS_TO_INCHES = 0.0038;//8192 * 1.37795 * 2 * Math.PI * 0.5008239963;
public static double STRAFE_TICKS_TO_INCHES = -0.0033;//8192 * 1.37795 * 2 * Math.PI * 0.5018874659;
public static double TURN_TICKS_TO_RADIANS = 0.002995;//8192 * 1.37795 * 2 * Math.PI * 0.5;
public static double FORWARD_TICKS_TO_INCHES = 0.004;//8192 * 1.37795 * 2 * Math.PI * 0.5008239963;
public static double STRAFE_TICKS_TO_INCHES = -0.0036;//8192 * 1.37795 * 2 * Math.PI * 0.5018874659;
public static double TURN_TICKS_TO_RADIANS = 0.0043;//8192 * 1.37795 * 2 * Math.PI * 0.5;
public static boolean useIMU = true;

2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/tuning/LateralZeroPowerAccelerationTuner.java
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@ -52,7 +52,7 @@ public class LateralZeroPowerAccelerationTuner extends OpMode {
private PoseUpdater poseUpdater;
public static double VELOCITY = 30;
public static double VELOCITY = 50;
private double previousVelocity;