Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-20 00:51:42 +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
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 {