Tune swerve PID

lasarobotics · Oct 25, 2024 · 3f69d0c · 3f69d0c
1 parent 0ba8c92
commit 3f69d0c
Showing 1 changed file with 1 addition and 2 deletions.
diff --git a/src/main/java/org/lasarobotics/drive/MAXSwerveModule.java b/src/main/java/org/lasarobotics/drive/MAXSwerveModule.java
@@ -116,7 +116,6 @@ private GearRatio(double value) {
   private static final double DRIVE_VELOCITY_kD = 0.001;
   private static final double DRIVE_VELOCITY_kS = 0.2;
   private static final double DRIVE_VELOCITY_kA = 0.5;
-  private static final double DRIVE_FF_MULTIPLIER = 1.3;
   private static final double DRIVE_VELOCITY_TOLERANCE = 0.01;
   private static final boolean DRIVE_VELOCITY_SENSOR_PHASE = false;
   private static final boolean DRIVE_INVERT_MOTOR = false;
@@ -219,7 +218,7 @@ public MAXSwerveModule(Hardware swerveHardware, ModuleLocation location, GearRat
         DRIVE_VELOCITY_kP,
         0.0,
         DRIVE_VELOCITY_kD,
-        (1 / ((m_driveMotor.getKind().getMaxRPM() * DRIVETRAIN_EFFICIENCY / 60) * m_driveConversionFactor)) * DRIVE_FF_MULTIPLIER,
+        1 / ((m_driveMotor.getKind().getMaxRPM() * DRIVETRAIN_EFFICIENCY / 60) * m_driveConversionFactor),
         0.0
       ),
       DRIVE_VELOCITY_SENSOR_PHASE,