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constants.txt
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constants.txt
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accelerationMax = 25
kDrift = 0
kPath = 0
driveTrainUpRamp = 10
driveTrainDownRamp = 10
kPMax_Distance = 1
kP_DriveVelocity = 0.07
kI_DriveVelocity = 0.0007
kD_DriveVelocity = 0.1
kF_DriveVelocity = 0.005
kP_DriveAngle = 0.5
kI_DriveAngle = 0
kD_DriveAngle = 0
kV_DriveAngle = 0
kP_LimelightAngle = 4
kI_LimelightAngle = 0.015
kD_LimelightAngle = 0
kP_LimelightStationaryAngle = 2
kI_LimelightStationaryAngle = 0.01
kD_LimelightStationaryAngle = 1
kP_DriveAngVel = 0
kI_DriveAngVel = 0
kD_DriveAngVel = 0
kF_DriveAngVel = 0
kV_DriveAngVel = 0
kP_PixelCorrection = 1.7
filterCoefficient = 0
teleopUpRamp = 2
teleopDownRamp = 10000
teleopUpRampQ = 1
teleopUpRampL = 1
teleopDownRampQ = 5000
teleopDownRampL = 5000
limelightUpRampQ = 1
limelightUpRampL = 1
limelightDownRampQ = 5000
limelightDownRampL = 5000
teleopUpRampQElevatorUp = 0.05
teleopUpRampLElevatorUp = 0.05
teleopDownRampQElevatorUp = 5000
teleopDownRampLElevatorUp = 5000
teleopUpRampElevatorUp = 0.1
teleopDownRampElevatorUp = 10000
kUpRamp_Velocity = .2
kDownRamp_Velocity = .2
kUpRamp_AngVelocity = 10000
kDownRamp_AngVelocity = 10000
kP_elevatorDistance = 2
kI_elevatorDistance = 0.001
kD_elevatorDistance = 0
kF_elevatorDistance = 1
levitateElevatorDistance = 0
kElevatorEncoderFilterCoefficient = 0.9
kElevatorDistanceOutputFilterCoefficient = 1
kP_elevatorDownVelocity = 0.2
kI_elevatorDownVelocity = 0.05
kD_elevatorDownVelocity = 0
kP_elevatorUpVelocity = 1
kI_elevatorUpVelocity = 0.1
kD_elevatorUpVelocity = 0
elevatorMaxVelocity = 6
elevatorMaxVelocityClose = 1
elevatorMaxVelocityManual = 10
elevatorMinVelocity = -6
elevatorDistanceSetpointDownRamp = 70
elevatorDistanceSetpointUpRamp = 70
armDistanceSetpointDownRamp = 10000
armDistanceSetpointUpRamp = 10000
armDistanceSetpointDownRampClose = 10000
armDistanceSetpointUpRampClose = 10000
kP_cargoArmDistance = 20
kI_cargoArmDistance = 0.002
kD_cargoArmDistance = 2
kF_cargoArmDistance = 1
levitateCargo = 0
kArmEncoderFilterCoefficient = 0.9
kCargoArmDistanceOutputFilterCoefficient = 1
cargoArmMaxVelocity = 2
cargoArmMaxVelocityClose = 1
cargoArmMinVelocity = -2
cargoArmMinVelocityClose = -0.75
kP_cargoArmDownVelocity = 2
kI_cargoArmDownVelocity = 0.05
kD_cargoArmDownVelocity = 0
kP_cargoArmUpVelocity = 2
kI_cargoArmUpVelocity = 0.2
kD_cargoArmUpVelocity = 0
cargoRollersIMax = 5
elevatorIMax = 30
cargoArmIMaxUp = 15
cargoArmIMaxDown = 10
cargoArmIMax = 10
driveTrainIMax = 15
elevatorIMaxUp = 30
elevatorIMaxDown = 20