Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-19 00:41:43 +00:00
Code Issues Packages Projects Releases Wiki Activity

Update characterization values to match real robot (#2183)

Browse Source 
This is in preparation for an end-to-end trajectory tutorial example.

Co-Authored-By: Dalton Smith <gamefollower26@gmail.com>
This commit is contained in:
Oblarg
2019-12-20 16:46:13 -05:00
committed by Peter Johnson
parent 31b588d961
commit ea4d1a39e1
2 changed files with 12 additions and 12 deletions
Download Patch File Download Diff File Expand all files Collapse all files

12
wpilibcExamples/src/main/cpp/examples/RamseteCommand/include/Constants.h
View File

@@ -32,7 +32,7 @@ constexpr int kRightEncoderPorts[]{2, 3};
constexpr bool kLeftEncoderReversed = false;
constexpr bool kRightEncoderReversed = true;
constexpr auto kTrackwidth = 0.6_m;
constexpr auto kTrackwidth = 0.69_m;
constexpr frc::DifferentialDriveKinematics kDriveKinematics(kTrackwidth);
constexpr int kEncoderCPR = 1024;
@@ -45,15 +45,15 @@ constexpr bool kGyroReversed = true;
// These are example values only - DO NOT USE THESE FOR YOUR OWN ROBOT!
// These characterization values MUST be determined either experimentally or
// theoretically for *your* robot's drive. The RobotPy Characterization
// theoretically for *your* robot's drive. The Robot Characterization
// Toolsuite provides a convenient tool for obtaining these values for your
// robot.
constexpr auto ks = 1_V;
constexpr auto kv = 0.8 * 1_V * 1_s / 1_m;
constexpr auto ka = 0.15 * 1_V * 1_s * 1_s / 1_m;
constexpr auto ks = 0.22_V;
constexpr auto kv = 1.98 * 1_V * 1_s / 1_m;
constexpr auto ka = 0.2 * 1_V * 1_s * 1_s / 1_m;
// Example value only - as above, this must be tuned for your drive!
constexpr double kPDriveVel = 0.5;
constexpr double kPDriveVel = 8.5;
} // namespace DriveConstants
namespace AutoConstants {

12
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/Constants.java
View File

@@ -29,7 +29,7 @@ public final class Constants {
public static final boolean kLeftEncoderReversed = false;
public static final boolean kRightEncoderReversed = true;
public static final double kTrackwidthMeters = 0.6;
public static final double kTrackwidthMeters = 0.69;
public static final DifferentialDriveKinematics kDriveKinematics =
new DifferentialDriveKinematics(kTrackwidthMeters);
@@ -44,14 +44,14 @@ public final class Constants {
// These are example values only - DO NOT USE THESE FOR YOUR OWN ROBOT!
// These characterization values MUST be determined either experimentally or theoretically
// for *your* robot's drive.
// The RobotPy Characterization Toolsuite provides a convenient tool for obtaining these
// The Robot Characterization Toolsuite provides a convenient tool for obtaining these
// values for your robot.
public static final double ksVolts = 1;
public static final double kvVoltSecondsPerMeter = 0.8;
public static final double kaVoltSecondsSquaredPerMeter = 0.15;
public static final double ksVolts = 0.22;
public static final double kvVoltSecondsPerMeter = 1.98;
public static final double kaVoltSecondsSquaredPerMeter = 0.2;
// Example value only - as above, this must be tuned for your drive!
public static final double kPDriveVel = 0.5;
public static final double kPDriveVel = 8.5;
}
public static final class OIConstants {