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[examples] Add ProfiledPID command to RapidReactCommandBot (#7030)

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Gold856
2024-10-11 11:43:24 -04:00
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parent dcf5f55a30
commit 28cb7cf757
7 changed files with 140 additions and 0 deletions
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17
wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/Constants.h
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@@ -29,6 +29,23 @@ inline constexpr double kEncoderDistancePerPulse =
// Assumes the encoders are directly mounted on the wheel shafts
((kWheelDiameter * std::numbers::pi) / kEncoderCPR).value();
// These are example values only - DO NOT USE THESE FOR YOUR OWN ROBOT!
// These values MUST be determined either experimentally or theoretically for
// *your* robot's drive. The SysId tool provides a convenient method for
// obtaining feedback and feedforward values for your robot.
inline constexpr double kTurnP = 1;
inline constexpr double kTurnI = 0;
inline constexpr double kTurnD = 0;
inline constexpr auto kTurnTolerance = 5_deg;
inline constexpr auto kTurnRateTolerance = 10_deg_per_s;
inline constexpr auto kMaxTurnRate = 100_deg_per_s;
inline constexpr auto kMaxTurnAcceleration = 300_deg_per_s / 1_s;
inline constexpr auto ks = 1_V;
inline constexpr auto kv = 0.8_V * 1_s / 1_deg;
inline constexpr auto ka = 0.15_V * 1_s * 1_s / 1_deg;
} // namespace DriveConstants
namespace IntakeConstants {