add feedforward to swerve steer

frc868 · Mar 9, 2024 · 498a575 · 498a575
1 parent 1839cd7
commit 498a575
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diff --git a/src/main/java/com/techhounds/houndutil/houndlib/swerve/CoaxialSwerveModule.java b/src/main/java/com/techhounds/houndutil/houndlib/swerve/CoaxialSwerveModule.java
@@ -19,6 +19,9 @@ public static class SwerveConstants {
         public double STEER_kP;
         public double STEER_kI;
         public double STEER_kD;
+        public double STEER_kS;
+        public double STEER_kV;
+        public double STEER_kA;
 
         public double DRIVE_GEARING;
         public double STEER_GEARING;

diff --git a/src/main/java/com/techhounds/houndutil/houndlib/swerve/KrakenCoaxialSwerveModule.java b/src/main/java/com/techhounds/houndutil/houndlib/swerve/KrakenCoaxialSwerveModule.java
@@ -134,6 +134,9 @@ public KrakenCoaxialSwerveModule(
         steerConfig.Slot0.kP = SWERVE_CONSTANTS.STEER_kP;
         steerConfig.Slot0.kI = SWERVE_CONSTANTS.STEER_kI;
         steerConfig.Slot0.kD = SWERVE_CONSTANTS.STEER_kD;
+        steerConfig.Slot0.kS = SWERVE_CONSTANTS.STEER_kS;
+        steerConfig.Slot0.kV = SWERVE_CONSTANTS.STEER_kV;
+        steerConfig.Slot0.kA = SWERVE_CONSTANTS.STEER_kA;
         steerConfig.MotionMagic.MotionMagicCruiseVelocity = SWERVE_CONSTANTS.MAX_STEER_VELOCITY_RADIANS_PER_SECOND
                 / (2 * Math.PI);
         steerConfig.MotionMagic.MotionMagicAcceleration = SWERVE_CONSTANTS.MAX_STEER_ACCELERATION_RADIANS_PER_SECOND_SQUARED