PLS5618/Reefscape-2025
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Merge branch 'main' of https://git.demerso.net/PLS5618/Reefscape-2025

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This commit is contained in:
Samuel
2025-12-01 18:59:05 -05:00
parent b0272a5640 2f147d5edc
commit ca694c12d8
3 changed files with 12 additions and 12 deletions
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18
src/main/deploy/pathplanner/paths/New Path.path
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@@ -3,25 +3,25 @@
"waypoints": [ "waypoints": [
{ {
"anchor": { "anchor": {
"x": 7.564241803278687, "x": 16.243499999999997,
"y": 3.899129098360655 "y": 6.55025
}, },
"prevControl": null, "prevControl": null,
"nextControl": { "nextControl": {
"x": 6.506996649367605, "x": 15.18625440479427,
"y": 3.898163120386143 "y": 6.55025
}, },
"isLocked": false, "isLocked": false,
"linkedName": null "linkedName": null
}, },
{ {
"anchor": { "anchor": {
"x": 6.269569672131147, "x": 1.3552499999999998,
"y": 3.899129098360655 "y": 6.55025
}, },
"prevControl": { "prevControl": {
"x": 7.259410179761819, "x": 2.34525,
"y": 3.9002985318003183 "y": 6.55025
}, },
"nextControl": null, "nextControl": null,
"isLocked": false, "isLocked": false,
@@ -34,7 +34,7 @@
"eventMarkers": [], "eventMarkers": [],
"globalConstraints": { "globalConstraints": {
"maxVelocity": 3.0, "maxVelocity": 3.0,
"maxAcceleration": 3.0, "maxAcceleration": 1.0,
"maxAngularVelocity": 0.1, "maxAngularVelocity": 0.1,
"maxAngularAcceleration": 0.1, "maxAngularAcceleration": 0.1,
"nominalVoltage": 12.0, "nominalVoltage": 12.0,

2
src/main/deploy/pathplanner/settings.json
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@@ -9,7 +9,7 @@
"defaultMaxAngVel": 540.0, "defaultMaxAngVel": 540.0,
"defaultMaxAngAccel": 720.0, "defaultMaxAngAccel": 720.0,
"defaultNominalVoltage": 12.0, "defaultNominalVoltage": 12.0,
"robotMass": 45.3592, "robotMass": 45.359,
"robotMOI": 6.883, "robotMOI": 6.883,
"robotTrackwidth": 0.546, "robotTrackwidth": 0.546,
"driveWheelRadius": 0.048, "driveWheelRadius": 0.048,

4
src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java
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@@ -67,11 +67,11 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
), ),
new PPHolonomicDriveController( new PPHolonomicDriveController(
// PID constants for translation // PID constants for translation
new PIDConstants(63.167, 0, 0.54521), new PIDConstants(5, 0, 0),
// // PID constants for rotation // // PID constants for rotation
// new PIDConstants(7.9735, 0, 0.038499) // new PIDConstants(7.9735, 0, 0.038499)
// PID constants for rotation // PID constants for rotation
new PIDConstants(43.502,0,2.7353) new PIDConstants(5,0,0)
), ),
config, config,
// Assume the path needs to be flipped for Red vs Blue, this is normally the case // Assume the path needs to be flipped for Red vs Blue, this is normally the case