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[examples] Armbot: rename kCos to kG (#3975)

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This commit is contained in:
Oblarg
2022-01-31 03:16:26 -05:00
committed by GitHub
parent a8f0f6bb90
commit d68d6674e8
9 changed files with 16 additions and 16 deletions
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2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/Constants.java
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@@ -38,7 +38,7 @@ public final class Constants {
// These are fake gains; in actuality these must be determined individually for each robot
public static final double kSVolts = 1;
public static final double kCosVolts = 1;
public static final double kGVolts = 1;
public static final double kVVoltSecondPerRad = 0.5;
public static final double kAVoltSecondSquaredPerRad = 0.1;

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/subsystems/ArmSubsystem.java
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@@ -19,7 +19,7 @@ public class ArmSubsystem extends ProfiledPIDSubsystem {
new Encoder(ArmConstants.kEncoderPorts[0], ArmConstants.kEncoderPorts[1]);
private final ArmFeedforward m_feedforward =
new ArmFeedforward(
ArmConstants.kSVolts, ArmConstants.kCosVolts,
ArmConstants.kSVolts, ArmConstants.kGVolts,
ArmConstants.kVVoltSecondPerRad, ArmConstants.kAVoltSecondSquaredPerRad);
/** Create a new ArmSubsystem. */

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/Constants.java
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@@ -38,7 +38,7 @@ public final class Constants {
// These are fake gains; in actuality these must be determined individually for each robot
public static final double kSVolts = 1;
public static final double kCosVolts = 1;
public static final double kGVolts = 1;
public static final double kVVoltSecondPerRad = 0.5;
public static final double kAVoltSecondSquaredPerRad = 0.1;

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/subsystems/ArmSubsystem.java
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@@ -16,7 +16,7 @@ public class ArmSubsystem extends TrapezoidProfileSubsystem {
new ExampleSmartMotorController(ArmConstants.kMotorPort);
private final ArmFeedforward m_feedforward =
new ArmFeedforward(
ArmConstants.kSVolts, ArmConstants.kCosVolts,
ArmConstants.kSVolts, ArmConstants.kGVolts,
ArmConstants.kVVoltSecondPerRad, ArmConstants.kAVoltSecondSquaredPerRad);
/** Create a new ArmSubsystem. */