Update Constants.java

added arm weight and length
DeepBlueRobotics · Feb 28, 2024 · 20fab44 · 20fab44
1 parent 1c09a6d
commit 20fab44
Showing 1 changed file with 4 additions and 3 deletions.
diff --git a/src/main/java/org/carlmontrobotics/Constants.java b/src/main/java/org/carlmontrobotics/Constants.java
@@ -52,10 +52,11 @@ public static final class Arm {
 		public static final double kD = 0.1;
 
 		//Arm measurements - ALL OF THEM ARE PLACEHOLDERS THE NUMBERS MEAN NOTHING
-		public static final double COM_ARM_LENGTH_METERS = 1;
-		public static final double ARM_MASS_KG = 1;
+		public static final double COM_ARM_LENGTH_METERS = 0.381 ;
+		public static final double ARM_MASS_KG = 9.59302503;
 		public static final double MAX_FF_VEL = 1; // rot / s
-		public static final double MAX_FF_ACCEL = 1; // rot / s^2
+		public static final double MAX_FF_ACCEL = 1; // rot / s^2 
+		//I assume to max vel and accel are in meters per second
 		public static TrapezoidProfile.Constraints trapConstraints = new TrapezoidProfile.Constraints(MAX_FF_VEL, MAX_FF_ACCEL);
 
 		//Arm buttons