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constants.txt
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kRamp_AcceleratingForward = 0.1
kRamp_AcceleratingBackward = 0.1
kRamp_DeceleratingForward = 0.03
kRamp_DeceleratingBackward = 0.01
kThrottleLimit_DeceleratingForward = 0.2
kThrottleLimit_DeceleratingBackward = 0.2
kRamp_AcceleratingForwardArmDown = 0.12
kRamp_AcceleratingBackwardArmDown = 0.12
kRamp_DeceleratingForwardArmDown = 0.06
kRamp_DeceleratingBackwardArmDown = 0.06
kThrottleLimit_DeceleratingForwardArmDown = 0.2
kThrottleLimit_DeceleratingBackwardArmDown = 0.2
accelerationMax = 25
kPMax_Distance = 2
IMax = 15
voltageMax = 13
kDrift = 0.02
intakeIMax = 5
accelerationMaxElbow = 10000
kP_DriveVelocity = 0.1
kI_DriveVelocity = 0.005
kD_DriveVelocity = 0
kF_DriveVelocity = 0.03
kUpRamp_Velocity = 1.5
kDownRamp_Velocity = 1.5
kP_DriveAngle = 20
kI_DriveAngle = 0
kD_DriveAngle = .1
kF_DriveAngle = 2.5
kUpRamp_AngCurrent = 0.1
filterCoefficient = 0.257
kP_DriveAngVel = 8
kI_DriveAngVel = 0.01
kD_DriveAngVel = 0
kF_DriveAngVel = 2
kUpRamp_AngVelocity = .05
kDownRamp_AngVelocity = .15
kUpRamp_TeleopDown = 0.06
kDownRamp_TeleopDown = 10
kUpRamp_TeleopUp = .027
kDownRamp_TeleopDown = 10
kP_DriveAngleMax = 97
kP_ElbowAng = 97
kI_ElbowAng = 0
kD_ElbowAng = 0.2
kP_ElbowAngVel = 13
kI_ElbowAngVel = 0.24
kF_ElbowAngVel = 47
kP_WristAng = 47
kI_WristAng = 0
kD_WristAng = 0
kP_WristAngVel = 0
kI_WristAngVel = 0
kF_WristAngVel = 0
kSoftLimitForward_Wrist = 0
kSoftLimitReverse_Wrist = 0
kSoftLimitForward_Elbow = 1200
kSoftLimitReverse_Elbow = -800
currentStallWrist = 70
currentStallElbow = 20
levitateWristCurrent = 0
levitateElbowCurrent = 0.25
kP_DriveStraight = 0.1
kI_DriveStraight = 0.01