tunerconstants修改

src/main/java/frc/robot/generated/TunerConstants.java

@@ -24,14 +24,14 @@ public class TunerConstants {
     // The steer motor uses any SwerveModule.SteerRequestType control request with the
     // output type specified by SwerveModuleConstants.SteerMotorClosedLoopOutput
     private static final Slot0Configs steerGains = new Slot0Configs()
-        .withKP(100).withKI(0).withKD(0.5)
+        .withKP(70).withKI(0).withKD(0.5)
         .withKS(0.1).withKV(1.59).withKA(0)
         .withStaticFeedforwardSign(StaticFeedforwardSignValue.UseClosedLoopSign);
     // When using closed-loop control, the drive motor uses the control
     // output type specified by SwerveModuleConstants.DriveMotorClosedLoopOutput
     private static final Slot0Configs driveGains = new Slot0Configs()
-        .withKP(0.1).withKI(0).withKD(0)
-        .withKS(0).withKV(0.124);
+        .withKP(0.01).withKI(0).withKD(0)
+        .withKS(0.05).withKV(0.117);
 
     // The closed-loop output type to use for the steer motors;
     // This affects the PID/FF gains for the steer motors
@@ -73,7 +73,16 @@ public class TunerConstants {
         );
     private static final CANcoderConfiguration encoderInitialConfigs = new CANcoderConfiguration();
     // Configs for the Pigeon 2; leave this null to skip applying Pigeon 2 configs
-    private static final Pigeon2Configuration pigeonConfigs = null;
+    private static final Pigeon2Configuration pigeonConfigs =
+    new Pigeon2Configuration()
+        .withGyroTrim(
+            new GyroTrimConfigs()
+                .withGyroScalarZ(-5.0)
+        )
+        .withPigeon2Features(
+            new Pigeon2FeaturesConfigs()
+                .withEnableCompass(false)
+        );
 
     // CAN bus that the devices are located on;
     // All swerve devices must share the same CAN bus
@@ -99,7 +108,7 @@ public class TunerConstants {
 
     // These are only used for simulation
     private static final MomentOfInertia kSteerInertia = KilogramSquareMeters.of(0.01);
-    private static final MomentOfInertia kDriveInertia = KilogramSquareMeters.of(0.035);
+    private static final MomentOfInertia kDriveInertia = KilogramSquareMeters.of(0.01);
     // Simulated voltage necessary to overcome friction
     private static final Voltage kSteerFrictionVoltage = Volts.of(0.2);
     private static final Voltage kDriveFrictionVoltage = Volts.of(0.2);