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tuning

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ary 2023-12-13 07:55:41 -05:00
parent faacca6819
commit b62bda48e4
1 changed files with 6 additions and 22 deletions
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28
CLOUDS/src/superstructure.cpp
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@ -50,9 +50,9 @@ namespace superstruct
// Adjust exit conditions to allow for quick movements // Adjust exit conditions to allow for quick movements
void configureExitConditions() void configureExitConditions()
{ {
chassis.set_exit_condition(chassis.turn_exit, 50, 2, 220, 3, 500, 500); chassis.set_exit_condition(chassis.turn_exit, 50, 2, 220, 3, 150, 500);
chassis.set_exit_condition(chassis.swing_exit, 100, 3, 500, 7, 500, 500); chassis.set_exit_condition(chassis.swing_exit, 100, 3, 500, 7, 150, 500);
chassis.set_exit_condition(chassis.drive_exit, 40, 80, 300, 150, 500, 500); chassis.set_exit_condition(chassis.drive_exit, 40, 80, 300, 150, 150, 500);
} }
// Adjust PID constants for accurate movements // Adjust PID constants for accurate movements
@ -61,9 +61,9 @@ namespace superstruct
chassis.set_slew_min_power(80, 80); chassis.set_slew_min_power(80, 80);
chassis.set_slew_distance(7, 7); chassis.set_slew_distance(7, 7);
chassis.set_pid_constants(&chassis.headingPID, 16, 0, 32, 0); chassis.set_pid_constants(&chassis.headingPID, 16, 0, 32, 0);
chassis.set_pid_constants(&chassis.forward_drivePID, 0.5, 0, 5, 0); chassis.set_pid_constants(&chassis.forward_drivePID, 1, 0.003, 10, 0);
chassis.set_pid_constants(&chassis.backward_drivePID, 0.5, 0, 5, 0); chassis.set_pid_constants(&chassis.backward_drivePID, 1, 0.003, 10, 0);
chassis.set_pid_constants(&chassis.turnPID, 6.25, 0.003, 57, 15); chassis.set_pid_constants(&chassis.turnPID, 7, 0.003, 62, 15);
chassis.set_pid_constants(&chassis.swingPID, 8.5, 0, 50, 0); chassis.set_pid_constants(&chassis.swingPID, 8.5, 0, 50, 0);
} }
@ -107,22 +107,6 @@ namespace superstruct
pros::Task intakeManager(handleIntake); pros::Task intakeManager(handleIntake);
// void controllerTelemetry()
// {
// while (1)
// {
// for (int i = 0; i < 4; i++)
// {
// double localavg_one = 0;
// }
// for (int i = 0; i < 4; i++)
// {
// double
// }
// }
// }
// Drives forward, runs next commands WITHOUT waiting for the drive to complete // Drives forward, runs next commands WITHOUT waiting for the drive to complete
void driveAsync(double dist, bool useHeadingCorrection) void driveAsync(double dist, bool useHeadingCorrection)
{ {