PLS5618/Reefscape-2025
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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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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.