New constants!

Recharacterized using process described in https://www.chiefdelphi.com/t/the-future-of-pathweaver/393014/82. `Kp` might need to be tuned, as does `ENCODER_TICKS_TO_METERS` most likely.
grt192 · Jan 14, 2022 · 8749cb5 · 8749cb5
1 parent 62167e8
commit 8749cb5
Showing 1 changed file with 6 additions and 6 deletions.
diff --git a/src/main/java/frc/robot/commands/tank/FollowPathCommand.java b/src/main/java/frc/robot/commands/tank/FollowPathCommand.java
@@ -27,16 +27,16 @@
 public class FollowPathCommand extends RamseteCommand {
 
   // Robot constants
-  private static final double ROBOT_WIDTH_METERS = 0.5652691153105908;
+  private static final double TRACK_WIDTH = 0.5492423243834469;
   private static final DifferentialDriveKinematics KINEMATICS = 
-    new DifferentialDriveKinematics(ROBOT_WIDTH_METERS);
+    new DifferentialDriveKinematics(TRACK_WIDTH);
 
   // Drive constants
   // https://docs.wpilib.org/en/stable/docs/software/examples-tutorials/trajectory-tutorial/characterizing-drive.html
-  private static final double Ks = 0.138; // V
-  private static final double Kv = 3.3; // Vs/m
-  private static final double Ka = 0.426; // Vs^2/m
-  private static final double Kp = 2.1;
+  private static final double Ks = 0.599; // V
+  private static final double Kv = 3.15; // Vs/m
+  private static final double Ka = 0.0145; // Vs^2/m
+  private static final double Kp = 0.0282;
 
   // Velocity / Acceleration constants
   private static final double MAX_VEL = 3; // m/s