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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;
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 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;
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;