SCDS/FTCRoadRunnerRobotics
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carlos
2024-09-24 15:38:10 -07:00
parent cc8b126e75
commit e329bbc16d
1 changed files with 8 additions and 7 deletions
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15
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/MecanumDrive.java
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@ -58,18 +58,19 @@ public final class MecanumDrive {
// TODO: fill in these values based on
// see https://ftc-docs.firstinspires.org/en/latest/programming_resources/imu/imu.html?highlight=imu#physical-hub-mounting
public RevHubOrientationOnRobot.LogoFacingDirection logoFacingDirection =
RevHubOrientationOnRobot.LogoFacingDirection.UP;
RevHubOrientationOnRobot.LogoFacingDirection.DOWN;
public RevHubOrientationOnRobot.UsbFacingDirection usbFacingDirection =
RevHubOrientationOnRobot.UsbFacingDirection.FORWARD;
RevHubOrientationOnRobot.UsbFacingDirection.LEFT;
// drive model parameters
public double inPerTick = 1;
public double lateralInPerTick = inPerTick;
public double trackWidthTicks = 0;
//public double inPerTick = 37619.0/112;
public double inPerTick = 18760.5/56;
public double lateralInPerTick = 293.2046574609792;
public double trackWidthTicks = 3968.437903995162;
// feedforward parameters (in tick units)
public double kS = 0;
public double kV = 0;
public double kS = 0.7748584778215575;
public double kV = 0.0005849868585467051;
public double kA = 0;
// path profile parameters (in inches)