+ // Drivetrain specific constants that relate to the inches per pulse value for
+ // the encoders
+ 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 final static double INCHES_PER_PULSE = (((Math.PI)
+ * OUTPUT_SPROCKET_DIAMETER / PULSES_PER_ROTATION)
+ / WHEEL_SPROCKET_DIAMETER) * WHEEL_DIAMETER;
+
+ // Drivetrain specific constants that relate to the PID controllers
+ private final static double Kp = 1.0, Ki = 0.0,
+ Kd = 0.0 * (OUTPUT_SPROCKET_DIAMETER / PULSES_PER_ROTATION)
+ / (WHEEL_SPROCKET_DIAMETER) * WHEEL_DIAMETER;