From 239f168540d1e79d3f4a0d534f9c6937d2372813 Mon Sep 17 00:00:00 2001 From: Carlos Date: Tue, 15 Oct 2024 13:59:02 -0700 Subject: [PATCH] Retuned to success, PIDF (P = .05) and translationalPIDFeedForward is back to 0 --- .../org/firstinspires/ftc/teamcode/PedroConstants.java | 10 +++++----- .../pedroPathing/tuning/FollowerConstants.java | 4 ++-- 2 files changed, 7 insertions(+), 7 deletions(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/PedroConstants.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/PedroConstants.java index bbef593..6ed40c0 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/PedroConstants.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/PedroConstants.java @@ -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 */ diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/tuning/FollowerConstants.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/tuning/FollowerConstants.java index ba53959..5324f88 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/tuning/FollowerConstants.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/tuning/FollowerConstants.java @@ -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