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Updated auto values #49

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merged 3 commits into from
Dec 31, 2024
+10 −10
Merged

Updated auto values #49

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07cc641
Auto value updates
rechsby Dec 31, 2024
93ab116
Merge branch 'offseason-base' into auto-fixes
mmilunicmobile Dec 31, 2024
accf16e
Merge branch 'offseason-base' into auto-fixes
mmilunicmobile Dec 31, 2024
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12 changes: 6 additions & 6 deletions src/main/deploy/choreo/autos.chor
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Original file line number Diff line number Diff line change
Expand Up @@ -40,16 +40,16 @@
"val":6.75
},
"radius":{
"exp":"2 in",
"val":0.0508
"exp":"1.9079 in",
"val":0.04846066
},
"vmax":{
"exp":"485.89966375522135 rad / s",
"val":485.8996637552213
"exp":"502.65482457436696 rad / s",
"val":502.65482457436696
},
"tmax":{
"exp":"1.163975155279503 N m",
"val":1.163975155279503
"exp":"0.7554918032786885 N m",
"val":0.7554918032786885
},
"bumper":{
"front":{
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4 changes: 2 additions & 2 deletions src/main/deploy/pathplanner/settings.json
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Expand Up @@ -12,11 +12,11 @@
"robotMass": 40.823,
"robotMOI": 6.2,
"robotTrackwidth": 0.508,
"driveWheelRadius": 0.051,
"driveWheelRadius": 0.0485,
"driveGearing": 6.746031746031747,
"maxDriveSpeed": 4.73,
"driveMotorType": "krakenX60FOC",
"driveCurrentLimit": 39.0,
"driveCurrentLimit": 37.0,
"wheelCOF": 1.0,
"flModuleX": 0.298,
"flModuleY": 0.298,
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4 changes: 2 additions & 2 deletions src/main/java/frc/robot/constants/TunerConstants.java
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Expand Up @@ -51,7 +51,7 @@ public class TunerConstants {

// The stator current at which the wheels start to slip;
// This needs to be tuned to your individual robot
private static final Current kSlipCurrent = Amps.of(60.0);
private static final Current kSlipCurrent = Amps.of(37.0);

// Initial configs for the drive and steer motors and the CANcoder; these cannot be null.
// Some configs will be overwritten; check the `with*InitialConfigs()` API documentation.
Expand All @@ -64,7 +64,7 @@ public class TunerConstants {
// set a relatively low
// stator current limit to help avoid brownouts without
// impacting performance.
.withStatorCurrentLimit(Amps.of(39)) // 60
.withStatorCurrentLimit(Amps.of(60)) // 60
.withStatorCurrentLimitEnable(true));
private static final CANcoderConfiguration cancoderInitialConfigs = new CANcoderConfiguration();
// Configs for the Pigeon 2; leave this null to skip applying Pigeon 2 configs
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