Team_2648/2026-Robot-Code
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drive train testing

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This commit is contained in:
Tylr-J42
2026-03-06 00:39:39 -05:00
parent f1f523de73
commit 81d6c36436
2 changed files with 3 additions and 2 deletions
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4
src/main/java/frc/robot/constants/ModuleConstants.java
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@@ -34,7 +34,7 @@ public class ModuleConstants {
} }
// DRIVING MOTOR CONFIG (Kraken) // DRIVING MOTOR CONFIG (Kraken)
public static final double kDrivingMotorReduction = (14.0 * 28.0 * 15.0) / (50 * 16 * 45); public static final double kDrivingMotorReduction = (50 * 16 * 45)/(14.0 * 28.0 * 15.0);
public static final double kDrivingMotorFeedSpeedRPS = KrakenMotorConstants.kFreeSpeedRPM / 60; public static final double kDrivingMotorFeedSpeedRPS = KrakenMotorConstants.kFreeSpeedRPM / 60;
public static final double kWheelDiameterMeters = Units.inchesToMeters(4); public static final double kWheelDiameterMeters = Units.inchesToMeters(4);
@@ -45,7 +45,7 @@ public class ModuleConstants {
public static final double kDrivingVelocityFeedForward = 1 / kDriveWheelFreeSpeedRPS; public static final double kDrivingVelocityFeedForward = 1 / kDriveWheelFreeSpeedRPS;
// TODO Hold over from 2025, adjust? // TODO Hold over from 2025, adjust?
public static final double kDriveP = .04; public static final double kDriveP = .06;
public static final double kDriveI = 0; public static final double kDriveI = 0;
public static final double kDriveD = 0; public static final double kDriveD = 0;
public static final double kDriveS = 0; public static final double kDriveS = 0;

1
src/main/java/frc/robot/subsystems/Drivetrain.java
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@@ -144,6 +144,7 @@ public class Drivetrain extends SubsystemBase {
Logger.recordOutput("Drivetrain/Pose", getPose()); Logger.recordOutput("Drivetrain/Pose", getPose());
Logger.recordOutput("Drivetrain/Gyro Angle", getGyroValue()); Logger.recordOutput("Drivetrain/Gyro Angle", getGyroValue());
Logger.recordOutput("Drivetrain/Heading", getHeadingDegrees()); Logger.recordOutput("Drivetrain/Heading", getHeadingDegrees());
Logger.recordOutput("Drivetrain/Velocity", getCurrentChassisSpeeds());
} }
/** /**