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9bd9656871
I left "free speed" alone since that's the technical term for it. In general, velocity is a vector quantity, and speed is a magnitude (i.e., a strictly positive value). This PR also replaces the speed verbiage in MotorController with duty cycle. Fixes #8423.
41 lines
1.0 KiB
Python
41 lines
1.0 KiB
Python
#
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# Copyright (c) FIRST and other WPILib contributors.
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# Open Source Software; you can modify and/or share it under the terms of
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# the WPILib BSD license file in the root directory of this project.
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#
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"""
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A place for the constant values in the code that may be used in more than one place.
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This offers a convenient resources to teams who need to make both quick and universal
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changes.
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"""
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import math
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class DriveConstants:
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kDt = 0.02
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kLeftMotor1Port = 0
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kLeftMotor2Port = 1
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kRightMotor1Port = 2
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kRightMotor2Port = 3
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"""
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These are example values only - DO NOT USE THESE FOR YOUR OWN ROBOT!
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These characterization values MUST be determined either experimentally or theoretically
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for *your* robot's drive.
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The SysId tool provides a convenient method for obtaining these values for your robot.
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"""
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ks = 1.0 # V
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kv = 0.8 # V/(m/s)
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ka = 0.15 # V/(m/s²)
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kp = 1.0
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kMaxVelocity = 3.0 # m/s
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kMaxAcceleration = 3.0 # m/s²
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class OIConstants:
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kDriverControllerPort = 0
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