more pid tuning and data analysis, i think its spot on now.

Signed-off-by: a1cd <71281043+a1cd@users.noreply.github.com>
DurhamAcademy · Mar 30, 2024 · a6411b2 · a6411b2
1 parent 17680b3
commit a6411b2
Showing 1 changed file with 16 additions and 17 deletions.
diff --git a/src/main/java/frc/robot/subsystems/drive/Module.java b/src/main/java/frc/robot/subsystems/drive/Module.java
@@ -50,23 +50,22 @@ public Module(ModuleIO io, int index) {
     switch (Constants.currentMode) {
       case REAL:
         switch (index) {
-            //          case 0:
-            //            driveFeedforward = new SimpleMotorFeedforward(0.16843, 0.84597, 0.12757);
-            //            driveFeedback = new PIDController(1.5035, 0.0, 0.0);
-            //            //            break;
-            //          case 1:
-            //            driveFeedforward = new SimpleMotorFeedforward(0.11371, 0.81423,
-            // 0.17477);
-            //            driveFeedback = new PIDController(0.11041, 0.0, 0.0);
-                        //            break;
-            //          case 2:
-            //            driveFeedforward = new SimpleMotorFeedforward(0.20993, 0.85826, 0.1189);
-            //            driveFeedback = new PIDController(0.083206, 0.0, 0.0);
-            //            //            break;
-            //          case 3:
-            //            driveFeedforward = new SimpleMotorFeedforward(0.1969, 0.82537, 0.15257);
-            //            driveFeedback = new PIDController(0.056345, 0.0, 0.0);
-            //            break;
+//          case 0:
+//            driveFeedforward = new SimpleMotorFeedforward(0.14767, 0.85218, 0.12428);
+//            driveFeedback = new PIDController(0.15254, 0.0, 0.0);
+//            break;
+//          case 1:
+//            driveFeedforward = new SimpleMotorFeedforward(0.13197, 0.82237, 0.1558);
+//            driveFeedback = new PIDController(0.1295, 0.0, 0.0);
+//            break;
+//          case 2:
+//            driveFeedforward = new SimpleMotorFeedforward(0.21763, 0.83827, 0.13853);
+//            driveFeedback = new PIDController(0.13535, 0.0, 0.0);
+//            break;
+//          case 3:
+//            driveFeedforward = new SimpleMotorFeedforward(0.21342, 0.8122, 0.1631);
+//            driveFeedback = new PIDController(0.10222, 0.0, 0.0);
+//            break;
           default:
             driveFeedforward = new SimpleMotorFeedforward(0.05, 0.8, .13);
             driveFeedback = new PIDController(0.05, 0.0, 0.0);