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This commit is contained in:
Antoine PerreaultE 2025-02-22 11:24:07 -05:00
parent f10dc1165d
commit 9ff363dc24
2 changed files with 12 additions and 8 deletions
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14
src/main/java/frc/robot/TunerConstants/TunerConstants.java
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@ -23,15 +23,19 @@ public class TunerConstants {
// The steer motor uses any SwerveModule.SteerRequestType control request with the
// output type specified by SwerveModuleConstants.SteerMotorClosedLoopOutput
private static final Slot0Configs steerGains = new Slot0Configs()
.withKP(52.109).withKI(0).withKD(3.0232)
.withKS(0.24757).withKV(2.4715).withKA(0.062286)
//private static final Slot0Configs steerGains = new Slot0Configs()
// .withKP(68.294).withKI(0).withKD(4.7806)
// .withKS(0.20754).withKV(2.4832).withKA(0.099824)
// .withStaticFeedforwardSign(StaticFeedforwardSignValue.UseClosedLoopSign);
private static final Slot0Configs steerGains = new Slot0Configs()
.withKP(43.502).withKI(0).withKD(2.7353)
.withKS(0.027275).withKV(2.5818).withKA(0.1055)
.withStaticFeedforwardSign(StaticFeedforwardSignValue.UseClosedLoopSign);
// When using closed-loop control, the drive motor uses the control
// output type specified by SwerveModuleConstants.DriveMotorClosedLoopOutput
private static final Slot0Configs driveGains = new Slot0Configs()
.withKP(0.1).withKI(0).withKD(0)
.withKS(0).withKV(0.124);
.withKP(63.167).withKI(0).withKD(0.54521)
.withKS(0.18227).withKV(0.12483);
// The closed-loop output type to use for the steer motors;
// This affects the PID/FF gains for the steer motors

6
src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java
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@ -124,9 +124,9 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
),
new PPHolonomicDriveController(
// PID constants for translation
new PIDConstants(10, 0, 0),
new PIDConstants(63.167, 0, 0.54521),
// PID constants for rotation
new PIDConstants(7, 0, 0)
new PIDConstants(7.9735, 0, 0.038499)
),
config,
// Assume the path needs to be flipped for Red vs Blue, this is normally the case
@ -142,7 +142,7 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
}
/* The SysId routine to test */
private SysIdRoutine m_sysIdRoutineToApply = m_sysIdRoutineTranslation;
private SysIdRoutine m_sysIdRoutineToApply = m_sysIdRoutineSteer;
/**
* Constructs a CTRE SwerveDrivetrain using the specified constants.