SCDS/FTCRoadRunnerRobotics
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carlos
2024-10-17 11:05:12 -07:00
parent 7bf8b0c357
commit c1076a832c
5 changed files with 123 additions and 7 deletions
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10
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/PedroConstants.java
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@ -56,19 +56,19 @@ public class PedroConstants {
public static final double ROBOT_WEIGHT_IN_KG = 10.5;
// Maximum velocity of the robot going forward
public static final double ROBOT_SPEED_FORWARD = 72.0693;
public static final double ROBOT_SPEED_FORWARD = 79.0257;
// Maximum velocity of the robot going right
public static final double ROBOT_SPEED_LATERAL = 24.1401;
public static final double ROBOT_SPEED_LATERAL = 12.3941;
// Rate of deceleration when power is cut-off when the robot is moving forward
public static final double FORWARD_ZERO_POWER_ACCEL = -74.3779;
public static final double FORWARD_ZERO_POWER_ACCEL = -50.7945;
// Rate of deceleration when power is cut-off when the robot is moving to the right
public static final double LATERAL_ZERO_POWER_ACCEL = -111.8409;
public static final double LATERAL_ZERO_POWER_ACCEL = -92.733;
// 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;
public static final double ZERO_POWER_ACCEL_MULT = 2.5;
/* Centripetal force correction - increase if robot is correcting into the path
- decrease if robot is correcting away from the path */

3
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/TUNING.md
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@ -71,7 +71,8 @@ measurements will be in centimeters.
of how fast your robot will coast to a stop. Honestly, this is up to you. I personally used 4, but
what works best for you is most important. Higher numbers will cause a faster brake, but increase
oscillations at the end. Lower numbers will do the opposite. This can be found on line `107` in
`FollowerConstants`, named `zeroPowerAccelerationMultiplier`. The drive PID is much, much more sensitive than the others. For reference,
`FollowerConstants`, named `zeroPowerAccelerationMultiplier`. The drive PID is much, much more
* sensitive than the others. For reference,
my P values were in the hundredths and thousandths place values, and my D values were in the hundred
thousandths and millionths place values. To tune this, enable `useDrive`, `useHeading`, and
`useTranslational` in the `Follower` dropdown in FTC Dashboard. Next, run `StraightBackAndForth`

2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/tuning/FollowerConstants.java
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@ -40,7 +40,7 @@ public class FollowerConstants {
// Translational PIDF coefficients (don't use integral)
public static CustomPIDFCoefficients translationalPIDFCoefficients = new CustomPIDFCoefficients(
0.06,
0.1,
0,
0,
0);