SCDS/FTCRoadRunnerRobotics
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Retuned to success, PIDF (P = .05) and translationalPIDFeedForward is back to 0

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This commit is contained in:
Carlos
2024-10-15 13:59:02 -07:00
parent f2bcdcc55a
commit 239f168540
2 changed files with 7 additions and 7 deletions
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10
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/PedroConstants.java
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@ -56,19 +56,19 @@ public class PedroConstants {
public static final double ROBOT_WEIGHT_IN_KG = 10.5;
// Maximum velocity of the robot going forward
public static final double ROBOT_SPEED_FORWARD = 72.0693;
public static final double ROBOT_SPEED_FORWARD = 79.0257;
// Maximum velocity of the robot going right
public static final double ROBOT_SPEED_LATERAL = 24.1401;
public static final double ROBOT_SPEED_LATERAL = 12.3941;
// Rate of deceleration when power is cut-off when the robot is moving forward
public static final double FORWARD_ZERO_POWER_ACCEL = -74.3779;
public static final double FORWARD_ZERO_POWER_ACCEL = -50.7945;
// Rate of deceleration when power is cut-off when the robot is moving to the right
public static final double LATERAL_ZERO_POWER_ACCEL = -111.8409;
public static final double LATERAL_ZERO_POWER_ACCEL = -92.733;
// 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;
public static final double ZERO_POWER_ACCEL_MULT = 2.5;
/* Centripetal force correction - increase if robot is correcting into the path
- decrease if robot is correcting away from the path */

4
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/tuning/FollowerConstants.java
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@ -40,7 +40,7 @@ public class FollowerConstants {
// Translational PIDF coefficients (don't use integral)
public static CustomPIDFCoefficients translationalPIDFCoefficients = new CustomPIDFCoefficients(
0.06,
0.05,
0,
0,
0);
@ -53,7 +53,7 @@ public class FollowerConstants {
0);
// Feed forward constant added on to the translational PIDF
public static double translationalPIDFFeedForward = 0.015;
public static double translationalPIDFFeedForward = 0.00;
// Heading error PIDF coefficients