SCDS/FTCRoadRunnerRobotics
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Fix tick units

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This commit is contained in:
Ryan Brott
2023-04-05 22:22:16 -07:00
parent 5fbb278d09
commit 491bb42123
2 changed files with 4 additions and 4 deletions
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4
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/MecanumDrive.java
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@ -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);

4
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TankDrive.java
View File

@ -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);