- public static double driveP = 0.006, driveI = 0.001, driveD = -0.002;
- public static double defaultGyroP = 0.004, defaultGyroI = 0.0013,
- defaultGyroD = -0.005;
- private double gyroZero = 0;
-
- public static final double WHEEL_DIAMETER = 6; // inches
- public static final int ENCODER_PULSES_PER_REVOLUTION = 256;
+ public static double driveP = 0.012, driveI = 0.0011, driveD = -0.002;
+ public static double smallTurnP = 0.004, smallTurnI = 0.0013,
+ smallTurnD = 0.005;
+ public static double largeTurnP = .003, largeTurnI = .0012, largeTurnD = .006;
+ public static double driveStraightGyroP = 0.01;
+
+ public static final double WHEEL_DIAMETER = 4; // inches
+ public static final double ENCODER_PULSES_PER_REVOLUTION = 256;