From 02662511d110f28f1959ec6d415e61121e172fc5 Mon Sep 17 00:00:00 2001 From: Brandon Date: Thu, 7 Mar 2024 16:47:39 -0800 Subject: [PATCH] work for #27 --- src/main/java/org/carlmontrobotics/Constants.java | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/java/org/carlmontrobotics/Constants.java b/src/main/java/org/carlmontrobotics/Constants.java index 91f7f834..b1546ba9 100644 --- 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;