From dfe00e47a10a794456de67efa0954c88fec837ff Mon Sep 17 00:00:00 2001 From: Brandon Date: Thu, 7 Mar 2024 16:33:07 -0800 Subject: [PATCH] Max FF vel and accel #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 e3781ce3..91f7f834 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 = 0.8; // rad / s - public static final double MAX_FF_ACCEL_RAD_P_S = 1; // rad / s^2 + 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 // if needed public static final double COM_ARM_LENGTH_METERS = 0.381;