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Update characterization values to match real robot (#2183)

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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
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12
wpilibcExamples/src/main/cpp/examples/RamseteCommand/include/Constants.h
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@@ -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 {