Merge pull request #75 from rh-robotics/milo-drive-constants

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystems/roadrunner/drive/DriveConstants.java

@@ -21,8 +21,8 @@ public class DriveConstants {
     /*
      * These are motor constants that should be listed online for your motors.
      */
-    public static final double TICKS_PER_REV = 1;
-    public static final double MAX_RPM = 1;
+    public static final double TICKS_PER_REV = 3895.9;
+    public static final double MAX_RPM = 312.0;
 
     /*
      * Set RUN_USING_ENCODER to true to enable built-in hub velocity control using drive encoders.
@@ -32,8 +32,8 @@ public class DriveConstants {
      * If using the built-in motor velocity PID, update MOTOR_VELO_PID with the tuned coefficients
      * from DriveVelocityPIDTuner.
      */
-    public static final boolean RUN_USING_ENCODER = false;
-    public static PIDFCoefficients MOTOR_VELO_PID = new PIDFCoefficients(0, 0, 0,
+    public static final boolean RUN_USING_ENCODER = true;
+    public static PIDFCoefficients MOTOR_VELO_PID = new PIDFCoefficients(0.061, 0.00473, 0.0,
             getMotorVelocityF(MAX_RPM / 60 * TICKS_PER_REV));
 
     /*
@@ -44,9 +44,9 @@ public class DriveConstants {
      * angular distances although most angular parameters are wrapped in Math.toRadians() for
      * convenience. Make sure to exclude any gear ratio included in MOTOR_CONFIG from GEAR_RATIO.
      */
-    public static double WHEEL_RADIUS = 2; // in
-    public static double GEAR_RATIO = 1; // output (wheel) speed / input (motor) speed
-    public static double TRACK_WIDTH = 1; // in
+    public static double WHEEL_RADIUS = 3.77953; // in
+    public static double GEAR_RATIO = 1.0 / 10.71; // output (wheel) speed / input (motor) speed
+    public static double TRACK_WIDTH = 10.6299; // in
 
     /*
      * These are the feedforward parameters used to model the drive motor behavior. If you are using
@@ -55,8 +55,8 @@ public class DriveConstants {
      * empirically tuned.
      */
     public static double kV = 1.0 / rpmToVelocity(MAX_RPM);
-    public static double kA = 0;
-    public static double kStatic = 0;
+    public static double kA = 1.95;
+    public static double kStatic = 0.02;
 
     /*
      * These values are used to generate the trajectories for you robot. To ensure proper operation,
@@ -65,10 +65,10 @@ public class DriveConstants {
      * small and gradually increase them later after everything is working. All distance units are
      * inches.
      */
-    public static double MAX_VEL = 30;
-    public static double MAX_ACCEL = 30;
-    public static double MAX_ANG_VEL = Math.toRadians(60);
-    public static double MAX_ANG_ACCEL = Math.toRadians(60);
+    public static double MAX_VEL = 25;
+    public static double MAX_ACCEL = 25;
+    public static double MAX_ANG_VEL = Math.toRadians(50);
+    public static double MAX_ANG_ACCEL = Math.toRadians(50);
 
     /*
      * Adjust the orientations here to match your robot. See the FTC SDK documentation for details.