SCDS/FTCRoadRunnerRobotics
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This commit is contained in:
Ryan Brott
2023-09-10 09:12:35 -07:00
parent 5cd5bdd04e
commit b12b121447
2 changed files with 6 additions and 6 deletions
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6
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/MecanumDrive.java
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@ -52,17 +52,17 @@ public final class MecanumDrive {
public double lateralInPerTick = 1; public double lateralInPerTick = 1;
public double trackWidthTicks = 0; public double trackWidthTicks = 0;
// feedforward parameters in tick units // feedforward parameters (in tick units)
public double kS = 0; public double kS = 0;
public double kV = 0; public double kV = 0;
public double kA = 0; public double kA = 0;
// path profile parameters // path profile parameters (in inches)
public double maxWheelVel = 50; public double maxWheelVel = 50;
public double minProfileAccel = -30; public double minProfileAccel = -30;
public double maxProfileAccel = 50; public double maxProfileAccel = 50;
// turn profile parameters // turn profile parameters (in radians)
public double maxAngVel = Math.PI; // shared with path public double maxAngVel = Math.PI; // shared with path
public double maxAngAccel = Math.PI; public double maxAngAccel = Math.PI;

6
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TankDrive.java
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@ -56,17 +56,17 @@ public final class TankDrive {
public double inPerTick = 0; public double inPerTick = 0;
public double trackWidthTicks = 0; public double trackWidthTicks = 0;
// feedforward parameters in tick units // feedforward parameters (in tick units)
public double kS = 0; public double kS = 0;
public double kV = 0; public double kV = 0;
public double kA = 0; public double kA = 0;
// path profile parameters // path profile parameters (in inches)
public double maxWheelVel = 50; public double maxWheelVel = 50;
public double minProfileAccel = -30; public double minProfileAccel = -30;
public double maxProfileAccel = 50; public double maxProfileAccel = 50;
// turn profile parameters // turn profile parameters (in radians)
public double maxAngVel = Math.PI; // shared with path public double maxAngVel = Math.PI; // shared with path
public double maxAngAccel = Math.PI; public double maxAngAccel = Math.PI;