roadrunner finished

ftc13100 · Nov 17, 2024 · 8799bd0 · 8799bd0
1 parent 180f942
commit 8799bd0
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Showing 2 changed files with 12 additions and 6 deletions.
diff --git a/...e/src/main/kotlin/org/firstinspires/ftc/teamcode/utils/roadrunner/drive/DriveConstants.kt b/...e/src/main/kotlin/org/firstinspires/ftc/teamcode/utils/roadrunner/drive/DriveConstants.kt
@@ -47,7 +47,7 @@ object DriveConstants {
     var WHEEL_RADIUS = 1.88976 // in`
     var GEAR_RATIO = 1.0 // output (wheel) speed / input (motor) speed
     @JvmField
-    var TRACK_WIDTH = 15.5 // in
+    var TRACK_WIDTH = 13.94 // in
 
     /*
      * These are the feedforward parameters used to model the drive motor behavior. If you are using
@@ -56,11 +56,11 @@ object DriveConstants {
      * empirically tuned.
      */
     @JvmField
-    var kV = 0.0123
+    var kV = 0.0144
     @JvmField
-    var kA = 0.003
+    var kA = 0.0015
     @JvmField
-    var kStatic = 0.01
+    var kStatic = 0.012
 
     /*
      * These values are used to generate the trajectories for you robot. To ensure proper operation,
@@ -90,9 +90,13 @@ object DriveConstants {
      * You are free to raise this on your own if you would like. It is best determined through experimentation.
 
      */
+    @JvmField
     var MAX_VEL = 30.0
+    @JvmField
     var MAX_ACCEL = 30.0
-    var MAX_ANG_VEL = Math.toRadians(180.0)
+    @JvmField
+    var MAX_ANG_VEL = Math.toRadians(170.0)
+    @JvmField
     var MAX_ANG_ACCEL = Math.toRadians(170.0)
     fun encoderTicksToInches(ticks: Double): Double {
         return WHEEL_RADIUS * 2 * Math.PI * GEAR_RATIO * ticks / TICKS_PER_REV

diff --git a/...n/org/firstinspires/ftc/teamcode/utils/roadrunner/drive/StandardTrackingWheelLocalizer.kt b/...n/org/firstinspires/ftc/teamcode/utils/roadrunner/drive/StandardTrackingWheelLocalizer.kt
@@ -73,12 +73,14 @@ class StandardTrackingWheelLocalizer(hardwareMap: HardwareMap) : ThreeTrackingWh
         val GEAR_RATIO = 1.0 // output (wheel) speed / input (encoder) speed
 
         @JvmField
-        var LATERAL_DISTANCE = 15.153260857569071    // in; distance between the left and right wheels
+        var LATERAL_DISTANCE = 15.45    // in; distance between the left and right wheels
 
         @JvmField
         var FORWARD_OFFSET = -2.1 // in; offset of the lateral wheel
 
+        @JvmField
         var X_MULTIPLIER = 0.9944039016245 // Multiplier in the X direction
+        @JvmField
         var Y_MULTIPLIER = 0.99960646480333// Multiplier in the Y direction
         fun encoderTicksToInches(ticks: Double): Double {
             return WHEEL_RADIUS * 2 * Math.PI * GEAR_RATIO * ticks / TICKS_PER_REV