Put drivetrain constants in Constants.java

[3501/stronghold-2016] / src / org / usfirst / frc / team3501 / robot / Constants.java

diff --git a/src/org/usfirst/frc/team3501/robot/Constants.java b/src/org/usfirst/frc/team3501/robot/Constants.java
index 4ad8a4bf0be8bb5ded68e636dd9c2ee2910a2ec2..37f77e41abe42387f2926cc024eb2c2be93a8eb9 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Constants.java
+++ b/src/org/usfirst/frc/team3501/robot/Constants.java
@@ -56,13 +56,13 @@ public class Constants {
     public final static int FORWARD_CHANNEL = 0;
     public final static int REVERSE_CHANNEL = 0;
 
-    private final static double WHEEL_DIAMETER = 6.0; // in inches
-    private final static double PULSES_PER_ROTATION = 256; // in pulses
-    private final static double OUTPUT_SPROCKET_DIAMETER = 2.0; // in inches
-    private final static double WHEEL_SPROCKET_DIAMETER = 3.5; // in inches
     public static final double INCHES_PER_PULSE = ((3.66 / 5.14) * 6 * Math.PI)
         / 256;
 
+    public static double kp = 0.013, ki = 0.000015, kd = -0.002;
+    public static double gp = 0.018, gi = 0.000015, gd = 0;
+    public static double encoderTolerance = 8.0, gyroTolerance = 5.0;
+
     public static final int MANUAL_MODE = 1, ENCODER_MODE = 2, GYRO_MODE = 3;
     public static final int LEFT_FORWARD = 0, LEFT_REVERSE = 1,
         RIGHT_FORWARD = 2, RIGHT_REVERSE = 3;