Skip to content

Update max speed #180

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Draft
wants to merge 1 commit into
base: main
Choose a base branch
from
Draft

Update max speed #180

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
2 changes: 1 addition & 1 deletion common
Open in desktop
Submodule common updated 2 files
+70 −0 lib/cpp/subzero/drivetrain/SwerveUtils.cpp
+14 −14 lib/include/subzero/drivetrain/SwerveUtils.h
2 changes: 1 addition & 1 deletion src/main/include/constants/ArmConstants.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -17,7 +17,7 @@ constexpr double kRotationHomingSpeed = .15;
constexpr int kArmGearRatio = 125;
constexpr units::degree_t kArmRelativeDistancePerRev = 360_deg * (1 / 8.75);
constexpr units::degree_t kArmAbsoluteDistancePerRev = 360_deg;
constexpr units::degree_t kAmpRotation = 142_deg;
constexpr units::degree_t kAmpRotation = 132_deg;
constexpr units::degree_t kMaxRotation = 190_deg;
constexpr units::degree_t kHomeRotation = 10_deg;
constexpr units::degrees_per_second_t kDefaultVelocity = 10_deg_per_s;
Expand Down
2 changes: 1 addition & 1 deletion src/main/include/constants/DriveConstants.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -9,7 +9,7 @@
namespace DriveConstants {
// Driving Parameters - Note that these are not the maximum capable speeds of
// the robot, rather the allowed maximum speeds
constexpr units::meters_per_second_t kMaxSpeed = 3.9_mps;
constexpr units::meters_per_second_t kMaxSpeed = 4.8_mps;
constexpr units::radians_per_second_t kMaxAngularSpeed{2 * std::numbers::pi};

constexpr double kDirectionSlewRate = 1.2; // radians per second
Expand Down
Loading