Tune TC again

lasarobotics · Feb 29, 2024 · 1557100 · 1557100
1 parent 22ee2ec
commit 1557100
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Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -67,8 +67,8 @@ public static class HID {
   }
 
   public static class Drive {
-    public static final PIDConstants DRIVE_ROTATE_PID = new PIDConstants(7.0, 0.0, 0.1, 0.0, 0.0);
-    public static final double DRIVE_SLIP_RATIO = 0.12;
+    public static final PIDConstants DRIVE_ROTATE_PID = new PIDConstants(7.0, 0.0, 0.2, 0.0, 0.0);
+    public static final double DRIVE_SLIP_RATIO = 0.05;
     public static final double DRIVE_TURN_SCALAR = 60.0;
     public static final double DRIVE_LOOKAHEAD = 6;
 

diff --git a/src/main/java/frc/robot/subsystems/drive/DriveSubsystem.java b/src/main/java/frc/robot/subsystems/drive/DriveSubsystem.java
@@ -94,8 +94,8 @@ public Hardware(NavX2 navx,
   public static final Measure<Distance> DRIVE_WHEELBASE = Units.Meters.of(0.62);
   public static final Measure<Distance> DRIVE_TRACK_WIDTH = Units.Meters.of(0.62);
   public static final Measure<Time> AUTO_LOCK_TIME = Units.Seconds.of(3.0);
-  public static final Measure<Time> MAX_SLIPPING_TIME = Units.Seconds.of(1.2);
-  public static final Measure<Current> DRIVE_CURRENT_LIMIT = Units.Amps.of(35.0);
+  public static final Measure<Time> MAX_SLIPPING_TIME = Units.Seconds.of(1.0);
+  public static final Measure<Current> DRIVE_CURRENT_LIMIT = Units.Amps.of(5.0);
   public static final Measure<Velocity<Angle>> NAVX2_YAW_DRIFT_RATE = Units.DegreesPerSecond.of(0.5 / 60);
   public static final Measure<Velocity<Angle>> DRIVE_ROTATE_VELOCITY = Units.RadiansPerSecond.of(12 * Math.PI);
   public static final Measure<Velocity<Velocity<Angle>>> DRIVE_ROTATE_ACCELERATION = Units.RadiansPerSecond.of(4 * Math.PI).per(Units.Second);