Updated Sim Arm constants

DevilBotz2876 · Mar 22, 2024 · 5638283 · 5638283
1 parent 5a2764c
commit 5638283
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Showing 2 changed files with 12 additions and 11 deletions.
diff --git a/src/main/java/frc/robot/config/RobotConfig.java b/src/main/java/frc/robot/config/RobotConfig.java
@@ -48,7 +48,7 @@ public static class DriveConstants {
     public static double rotatePidKd = 0.0;
     public static double rotatePidErrorInDegrees = 2.0;
     public static double pidTimeoutInSeconds = 0.5;
-    public static double pidSettlingTimeInMilliseconds = 0.1;
+    public static double pidSettlingTimeInSeconds = 0.1;
 
     public static double slewRateLimiterX = 3;
     public static double slewRateLimiterY = 3;
@@ -62,25 +62,26 @@ public static class ArmConstants {
     public static double absolutePositionOffset = 0; /* 0-1 */
     public static double absoluteEncoderInversion = 1; /* 1 for none, -1 to invert */
 
-    public static double pidKp = 0.1;
+    public static double pidKp = 0.12935;
     public static double pidKi = 0.0;
-    public static double pidKd = 0.0;
+    public static double pidKd = 0.0060174;
     public static double pidMaxOutput = 0.4;
     public static double pidMinOutput = -0.4;
 
-    public static double ffKs = 0.0;
-    public static double ffKv = 0.0;
-    public static double ffKa = 0.0;
-    public static double ffKg = 0.1;
+    public static double ffKs = 0.03402;
+    public static double ffKv = 0.072343;
+    public static double ffKa = 0.00036498;
+    public static double ffKg = 0.88138;
 
     public static double pidAngleErrorInDegrees = 2.0;
-    public static double pidSettlingTimeInMilliseconds = 0.1;
+    public static double pidSettlingTimeInSeconds = 0.0;
     public static double pidTimeoutInSeconds = 3.0;
 
     public static double maxAngleInDegrees = 90.0;
     public static double minAngleInDegrees = 0.0;
     public static double maxVelocityInDegreesPerSecond = 90;
-    public static double maxAccelerationInDegreesPerSecondSquared = 720;
+    public static double maxAccelerationInDegreesPerSecondSquared =
+        maxVelocityInDegreesPerSecond * 16;
 
     public static double intakeAngleInDegrees = 1;
     public static double ejectAngleInDegrees = 15;
@@ -105,7 +106,7 @@ public static class ShooterConstants {
 
     /* PID */
     public static double pidVelocityErrorInRPMS = 300;
-    public static double pidSettlingTimeInMilliseconds = 0.1;
+    public static double pidSettlingTimeInSeconds = 0.0;
     public static double pidTimeoutInSeconds = 2.0;
     public static double pidKp = 0.043566;
     public static double pidKi = 0.0;

diff --git a/src/main/java/frc/robot/config/RobotConfigInferno.java b/src/main/java/frc/robot/config/RobotConfigInferno.java
@@ -36,7 +36,7 @@ public RobotConfigInferno() {
     DriveConstants.rotatePidKd = 0.001;
     DriveConstants.rotatePidErrorInDegrees = 0.5;
     DriveConstants.pidTimeoutInSeconds = 2;
-    DriveConstants.pidSettlingTimeInMilliseconds = 0.5;
+    DriveConstants.pidSettlingTimeInSeconds = 0.5;
 
     drive = new DriveSwerveYAGSL("yagsl/inferno");