From ffc69d406cdba3890a2eb4d6c2fbaa07e4497d56 Mon Sep 17 00:00:00 2001 From: Jason Daming Date: Tue, 19 Apr 2022 19:10:11 -0500 Subject: [PATCH] [examples] Reduce suggested acceleration in Ramsete example (#4171) This value mirrors the update to the documentation in wpilibsuite/frc-docs#1792. --- .../src/main/cpp/examples/RamseteCommand/include/Constants.h | 2 +- .../wpi/first/wpilibj/examples/ramsetecommand/Constants.java | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/wpilibcExamples/src/main/cpp/examples/RamseteCommand/include/Constants.h b/wpilibcExamples/src/main/cpp/examples/RamseteCommand/include/Constants.h index 174a028a00..5562f7718f 100644 --- a/wpilibcExamples/src/main/cpp/examples/RamseteCommand/include/Constants.h +++ b/wpilibcExamples/src/main/cpp/examples/RamseteCommand/include/Constants.h @@ -59,7 +59,7 @@ constexpr double kPDriveVel = 8.5; namespace AutoConstants { constexpr auto kMaxSpeed = 3_mps; -constexpr auto kMaxAcceleration = 3_mps_sq; +constexpr auto kMaxAcceleration = 1_mps_sq; // Reasonable baseline values for a RAMSETE follower in units of meters and // seconds diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/Constants.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/Constants.java index b63766cb1e..d5140ee13a 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/Constants.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/Constants.java @@ -55,7 +55,7 @@ public final class Constants { public static final class AutoConstants { public static final double kMaxSpeedMetersPerSecond = 3; - public static final double kMaxAccelerationMetersPerSecondSquared = 3; + public static final double kMaxAccelerationMetersPerSecondSquared = 1; // Reasonable baseline values for a RAMSETE follower in units of meters and seconds public static final double kRamseteB = 2;