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auton work

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ary 2023-09-16 14:34:21 -04:00
parent 953178bb3d
commit e843d25772
2 changed files with 6 additions and 6 deletions
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10
RELENTLESS-Lite/src/autons.cpp
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@ -15,17 +15,17 @@ const int SWING_SPEED = 90;
void default_constants() {
chassis.set_slew_min_power(80, 80);
chassis.set_slew_distance(7, 7);
chassis.set_pid_constants(&chassis.headingPID, 11, 0, 20, 0);
chassis.set_pid_constants(&chassis.headingPID, 11, 0, 17.5, 0);
chassis.set_pid_constants(&chassis.forward_drivePID, 2, 0, 5, 0);
chassis.set_pid_constants(&chassis.backward_drivePID, 2, 0, 5, 0);
chassis.set_pid_constants(&chassis.turnPID, 4, 0.003, 35, 15);
chassis.set_pid_constants(&chassis.turnPID, 5, 0.003, 30, 15);
chassis.set_pid_constants(&chassis.swingPID, 6, 0, 40, 0);
}
void exit_condition_defaults() {
chassis.set_exit_condition(chassis.turn_exit, 100, 3, 500, 7, 500, 500);
chassis.set_exit_condition(chassis.swing_exit, 100, 3, 500, 7, 500, 500);
chassis.set_exit_condition(chassis.drive_exit, 80, 50, 300, 150, 500, 500);
chassis.set_exit_condition(chassis.turn_exit, 50, 2, 220, 3, 500, 500);//100, 3, 500, 7, 500, 500 //100, 2, 500, 4, 500, 500// 70, 1, 220, 3, 500, 500
chassis.set_exit_condition(chassis.swing_exit, 100, 3, 500, 7, 500, 500);//100, 3, 500, 7, 500, 500
chassis.set_exit_condition(chassis.drive_exit, 20, 40, 300, 150, 500, 500);//80, 50, 300, 150, 500, 500//20, 60, 300, 150, 500, 500
}
// ** other stufff** //

2
RELENTLESS-Lite/src/main.cpp
View File

@ -62,7 +62,7 @@ void opcontrol() {
while (true) {
//chassis.arcade_standard(ary::SdPLIT, ary::DEFAULT);
chassis.tank();
chassis.arcade_standard(ary::SPLIT, ary::DEFAULT);
pros::delay(ary::util::DELAY_TIME);
}
}