SCDS/FTCRoadRunnerRobotics
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Updating localizer/tuning values for Bobito

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This commit is contained in:
Carlos Rivas
2024-10-30 12:54:51 -07:00
parent 4e8c37e01b
commit b442008fb6
3 changed files with 11 additions and 11 deletions
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10
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/PedroConstants.java
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@ -37,21 +37,21 @@ public class PedroConstants {
public static final double ROBOT_WEIGHT_IN_KG = 5.15; public static final double ROBOT_WEIGHT_IN_KG = 5.15;
// Maximum velocity of the robot going forward // Maximum velocity of the robot going forward
public static final double ROBOT_SPEED_FORWARD = 57.1750; public static final double ROBOT_SPEED_FORWARD = 66.6117;
// Maximum velocity of the robot going right // Maximum velocity of the robot going right
public static final double ROBOT_SPEED_LATERAL = 52.775; public static final double ROBOT_SPEED_LATERAL = 60.0671;
// Rate of deceleration when power is cut-off when the robot is moving forward // Rate of deceleration when power is cut-off when the robot is moving forward
public static final double FORWARD_ZERO_POWER_ACCEL = -68.235; public static final double FORWARD_ZERO_POWER_ACCEL = -71.154;
// Rate of deceleration when power is cut-off when the robot is moving to the right // Rate of deceleration when power is cut-off when the robot is moving to the right
public static final double LATERAL_ZERO_POWER_ACCEL = -111.025; public static final double LATERAL_ZERO_POWER_ACCEL = -109.5358;
// Determines how fast your robot will decelerate as a factor of how fast your robot will coast to a stop // 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 = 4.0; public static final double ZERO_POWER_ACCEL_MULT = 4.0;
/* Centripetal force correction - increase if robot is correcting into the path /* Centripetal force correction - increase if robot is correcting into the path
- decrease if robot is correcting away from the path */ - decrease if robot is correcting away from the path */
public static final double CENTRIPETAL_SCALING = 0.0004; public static final double CENTRIPETAL_SCALING = 0.0005;
} }

4
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/localizers/DriveEncoderLocalizer.java
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@ -48,8 +48,8 @@ public class DriveEncoderLocalizer extends Localizer {
private final Encoder rightRear; private final Encoder rightRear;
private double totalHeading; private double totalHeading;
public static double FORWARD_TICKS_TO_INCHES = -0.0058; public static double FORWARD_TICKS_TO_INCHES = -0.0058;
public static double STRAFE_TICKS_TO_INCHES = -0.0057; public static double STRAFE_TICKS_TO_INCHES = -0.0326;
public static double TURN_TICKS_TO_RADIANS = -0.0008675; public static double TURN_TICKS_TO_RADIANS = -0.0009;
public static double ROBOT_WIDTH = 1; public static double ROBOT_WIDTH = 1;
public static double ROBOT_LENGTH = 1; public static double ROBOT_LENGTH = 1;

8
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/tuning/FollowerConstants.java
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@ -42,7 +42,7 @@ public class FollowerConstants {
public static CustomPIDFCoefficients translationalPIDFCoefficients = new CustomPIDFCoefficients( public static CustomPIDFCoefficients translationalPIDFCoefficients = new CustomPIDFCoefficients(
0.1, 0.1,
0, 0,
0.01, 0,
0); 0);
// Translational Integral // Translational Integral
@ -60,7 +60,7 @@ public class FollowerConstants {
public static CustomPIDFCoefficients headingPIDFCoefficients = new CustomPIDFCoefficients( public static CustomPIDFCoefficients headingPIDFCoefficients = new CustomPIDFCoefficients(
1, 1,
0, 0,
.1, 0,
0); 0);
// Feed forward constant added on to the heading PIDF // Feed forward constant added on to the heading PIDF
@ -69,10 +69,10 @@ public class FollowerConstants {
// Drive PIDF coefficients // Drive PIDF coefficients
public static CustomFilteredPIDFCoefficients drivePIDFCoefficients = new CustomFilteredPIDFCoefficients( public static CustomFilteredPIDFCoefficients drivePIDFCoefficients = new CustomFilteredPIDFCoefficients(
0.006, 0.025,
0, 0,
0.00001, 0.00001,
0.8, 0.6,
0); 0);
// Feed forward constant added on to the drive PIDF // Feed forward constant added on to the drive PIDF