From bee78d7d71c13528dbff8df1259c57d58834c46b Mon Sep 17 00:00:00 2001 From: Carlos Rivas Date: Wed, 30 Oct 2024 19:39:49 -0700 Subject: [PATCH] WIP bobito tunings --- .../localization/localizers/DriveEncoderLocalizer.java | 2 +- .../ftc/teamcode/pedroPathing/tuning/FollowerConstants.java | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/localizers/DriveEncoderLocalizer.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/localizers/DriveEncoderLocalizer.java index 558904d..ddb0e53 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/localizers/DriveEncoderLocalizer.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/localizers/DriveEncoderLocalizer.java @@ -48,7 +48,7 @@ public class DriveEncoderLocalizer extends Localizer { private final Encoder rightRear; private double totalHeading; public static double FORWARD_TICKS_TO_INCHES = -0.0058; - public static double STRAFE_TICKS_TO_INCHES = -0.0326; + public static double STRAFE_TICKS_TO_INCHES = -0.0054; public static double TURN_TICKS_TO_RADIANS = -0.0009; public static double ROBOT_WIDTH = 1; public static double ROBOT_LENGTH = 1; 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 4830913..0fd1d38 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 @@ -202,9 +202,9 @@ public class FollowerConstants { // Secondary drive PIDF coefficients public static CustomFilteredPIDFCoefficients secondaryDrivePIDFCoefficients = new CustomFilteredPIDFCoefficients( - 0.02, + 0.00315, 0, - 0.000005, + 0.0001, 0.6, 0);