work for #27

DeepBlueRobotics · Mar 8, 2024 · 0266251 · 0266251
1 parent dfe00e4
commit 0266251
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/src/main/java/org/carlmontrobotics/Constants.java b/src/main/java/org/carlmontrobotics/Constants.java
@@ -63,8 +63,8 @@ public static final class Arm {
 		public static final double kV = 0.1;
 		public static final double kA = 0.1;
 		public static final double IZONE_RAD = .8;
-		public static final double MAX_FF_VEL_RAD_P_S = 1.845; // rad / s
-		public static final double MAX_FF_ACCEL_RAD_P_S = 19.4569; // rad / s^2
+		public static final double MAX_FF_VEL_RAD_P_S = 8.44470886; // rad / s WORK: w = at, a=max accel, t = sqrt([2*max angular position]/a) -> t=sqrt([7pi/6]/a) -> at = 8.44470886
+		public static final double MAX_FF_ACCEL_RAD_P_S = 19.4569; // rad / s^2 WORK: a=I/T*gear ratio -> I=1/2mr^2(metric units) -> m=6.80389kg, r =.6855m, -> I=1.16741703, T=3.6 newton meters -> a=(I/T)*60[gear ratio] 
 
 		// if needed
 		public static final double COM_ARM_LENGTH_METERS = 0.381;