Team_2648/2024_Robot_Code
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Changes from 1/18 meeting and a bug fix that will probably invert controls again, but should resolve issues with robot oriented control

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This commit is contained in:
Bradley Bickford
2024-01-18 21:15:00 -05:00
parent 6f9f53011e
commit 385f606ed0
4 changed files with 14 additions and 21 deletions
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3
src/main/java/frc/robot/constants/AutoConstants.java
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@@ -20,12 +20,11 @@ public final class AutoConstants {
public static final double kPHeadingController = 0.02; // for heading control NOT PATHING
public static final double kDHeadingController = 0.0025;
// TODO Is the robot module radius correct?
public static final HolonomicPathFollowerConfig kPFConfig = new HolonomicPathFollowerConfig(
new PIDConstants(kPXController),
new PIDConstants(kPThetaController),
kMaxSpeedMetersPerSecond,
Units.inchesToMeters(36.77),
Units.inchesToMeters(34.65),
new ReplanningConfig()
);

13
src/main/java/frc/robot/constants/DrivetrainConstants.java
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@@ -15,11 +15,9 @@ public final class DrivetrainConstants {
public static final double kRotationalSlewRate = 4.0; // percent per second (1 = 100%)
// Chassis configuration
// TODO Update track width
public static final double kTrackWidth = Units.inchesToMeters(26.5-1.75*2);
public static final double kTrackWidth = Units.inchesToMeters(28-1.75*2);
// Distance between centers of right and left wheels on robot
// TODO Update wheel base
public static final double kWheelBase = Units.inchesToMeters(32.3-1.75*2);
public static final double kWheelBase = Units.inchesToMeters(28-1.75*2);
// Distance between front and back wheels on robot
public static final SwerveDriveKinematics kDriveKinematics = new SwerveDriveKinematics(
new Translation2d(kWheelBase / 2, kTrackWidth / 2),
@@ -36,12 +34,12 @@ public final class DrivetrainConstants {
// SPARK MAX CAN IDs
public static final int kFrontLeftDrivingCanId = 8;
public static final int kRearLeftDrivingCanId = 3;
public static final int kFrontRightDrivingCanId = 2;
public static final int kFrontRightDrivingCanId = 6;
public static final int kRearRightDrivingCanId = 1;
public static final int kFrontLeftTurningCanId = 4;
public static final int kRearLeftTurningCanId = 7;
public static final int kFrontRightTurningCanId = 6;
public static final int kFrontRightTurningCanId = 2;
public static final int kRearRightTurningCanId = 5;
public static final double kTurnToleranceDeg = 0;
@@ -49,6 +47,5 @@ public final class DrivetrainConstants {
public static final boolean kGyroReversed = true;
// TODO Is this offset going to continue to be correct for this year
public static final double kRobotStartOffset = 180;
public static final double kRobotStartOffset = 0;
}