fix gyro drive + drive constants

MiamiBeachBots · Feb 26, 2024 · 21e0d8e · 21e0d8e
1 parent bc51bc4
commit 21e0d8e
Show file tree

Hide file tree

Showing 2 changed files with 12 additions and 11 deletions.
diff --git a/src/main/java/frc/robot/DriveConstants.java b/src/main/java/frc/robot/DriveConstants.java
@@ -31,21 +31,21 @@ public final class DriveConstants {
   // The Robot Characterization Toolsuite provides a convenient tool for obtaining these
   // values for your robot.
   // Feed Forward Constants
-  public static final double ksDriveVolts = 0.16213;
-  public static final double kvDriveVoltSecondsPerMeter = 2.2194;
-  public static final double kaDriveVoltSecondsSquaredPerMeter = 0.33599;
+  public static final double ksDriveVolts = 0.19676;
+  public static final double kvDriveVoltSecondsPerMeter = 2.2623;
+  public static final double kaDriveVoltSecondsSquaredPerMeter = 0.43785;
   // Max speed Constants
-  public static final double kMaxOutputDrive = 1.0;
-  public static final double kMinOutputDrive = -1.0;
+  public static final double kMaxOutputDrive = 0.8;
+  public static final double kMinOutputDrive = -0.8;
   // Feed Back / PID Constants
-  public static final double kPDriveVel = 0.00034388;
+  public static final double kPDriveVel = 0.00088622;
   public static final double kIDriveVel = 0.0;
   public static final double kDDriveVel = 0.0;
   public static final double kIzDriveVel = 0.0; // error before integral takes effect
 
-  public static final double kPDrivePos = 5.7745;
+  public static final double kPDrivePos = 4.6269;
   public static final double kIDrivePos = 0.0;
-  public static final double kDDrivePos = 0.55289;
+  public static final double kDDrivePos = 0.49649;
   public static final double kIzDrivePos = 0.0; // error before integral takes effect
   // Helper class that converts a chassis velocity (dx and dtheta components) to left and right
   // wheel velocities for a differential drive.

diff --git a/src/main/java/frc/robot/subsystems/DriveSubsystem.java b/src/main/java/frc/robot/subsystems/DriveSubsystem.java
@@ -31,6 +31,7 @@
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine;
 import frc.robot.Constants.CANConstants;
+import frc.robot.Constants;
 import frc.robot.DriveConstants;
 
 /** This Subsystem is what allows the code to interact with the drivetrain of the robot. */
@@ -76,8 +77,8 @@ public class DriveSubsystem extends SubsystemBase {
   static final double turn_P = 0.1;
   static final double turn_I = 0.00;
   static final double turn_D = 0.00;
-  static final double MaxTurnRateDegPerS = 20;
-  static final double MaxTurnAccelerationDegPerSSquared = 50;
+  static final double MaxTurnRateDegPerS = 5;
+  static final double MaxTurnAccelerationDegPerSSquared = 10;
   static final double TurnToleranceDeg = 3; // max diff in degrees
   static final double TurnRateToleranceDegPerS = 10; // degrees per second
   // false when inactive, true when active / a target is set.
@@ -370,7 +371,7 @@ public void driveStraight(
     }
     double leftStickValue = joystickMagnitude + angleRate;
     double rightStickValue = joystickMagnitude - angleRate;
-    this.tankDrive(leftStickValue, rightStickValue);
+    this.tankDrive((leftStickValue * Constants.MAX_SPEED), (rightStickValue * Constants.MAX_SPEED));
   }
 
   /*