From 491bb4212304468bb68f29424293ffbe111fac4f Mon Sep 17 00:00:00 2001 From: Ryan Brott Date: Wed, 5 Apr 2023 22:22:16 -0700 Subject: [PATCH] Fix tick units --- .../java/org/firstinspires/ftc/teamcode/MecanumDrive.java | 4 ++-- .../main/java/org/firstinspires/ftc/teamcode/TankDrive.java | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/MecanumDrive.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/MecanumDrive.java index 62ca369..f7bb23a 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/MecanumDrive.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/MecanumDrive.java @@ -53,7 +53,7 @@ public final class MecanumDrive { public static double LATERAL_IN_PER_TICK = 1; public static double TRACK_WIDTH_TICKS = 0; - // feedforward parameters + // feedforward parameters in tick units public static double kS = 0; public static double kV = 0; public static double kA = 0; @@ -80,7 +80,7 @@ public final class MecanumDrive { IN_PER_TICK * TRACK_WIDTH_TICKS, IN_PER_TICK / LATERAL_IN_PER_TICK); - public final MotorFeedforward feedforward = new MotorFeedforward(kS, kV, kA); + public final MotorFeedforward feedforward = new MotorFeedforward(kS, kV / IN_PER_TICK, kA / IN_PER_TICK); public final TurnConstraints defaultTurnConstraints = new TurnConstraints( MAX_ANG_VEL, -MAX_ANG_ACCEL, MAX_ANG_ACCEL); diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TankDrive.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TankDrive.java index 9209e34..b6082ac 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TankDrive.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TankDrive.java @@ -56,7 +56,7 @@ public final class TankDrive { public static double IN_PER_TICK = 0; public static double TRACK_WIDTH_TICKS = 0; - // feedforward parameters + // feedforward parameters in tick units public static double kS = 0; public static double kV = 0; public static double kA = 0; @@ -80,7 +80,7 @@ public final class TankDrive { public final TankKinematics kinematics = new TankKinematics(IN_PER_TICK * TRACK_WIDTH_TICKS); - public final MotorFeedforward feedforward = new MotorFeedforward(kS, kV, kA); + public final MotorFeedforward feedforward = new MotorFeedforward(kS, kV / IN_PER_TICK, kA / IN_PER_TICK); public final TurnConstraints defaultTurnConstraints = new TurnConstraints( MAX_ANG_VEL, -MAX_ANG_ACCEL, MAX_ANG_ACCEL);