admin6494/FRC6494_2026Regional-offseason
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tunerconstants修改

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OnDYCLaptop
2026-07-06 22:52:36 +08:00
parent 5947fa27d3
commit 179913194c
1 changed files with 14 additions and 5 deletions
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src/main/java/frc/robot/generated/TunerConstants.java
+14 -5
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@@ -24,14 +24,14 @@ public class TunerConstants {
// The steer motor uses any SwerveModule.SteerRequestType control request with the // The steer motor uses any SwerveModule.SteerRequestType control request with the
// output type specified by SwerveModuleConstants.SteerMotorClosedLoopOutput // output type specified by SwerveModuleConstants.SteerMotorClosedLoopOutput
private static final Slot0Configs steerGains = new Slot0Configs() 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) .withKS(0.1).withKV(1.59).withKA(0)
.withStaticFeedforwardSign(StaticFeedforwardSignValue.UseClosedLoopSign); .withStaticFeedforwardSign(StaticFeedforwardSignValue.UseClosedLoopSign);
// When using closed-loop control, the drive motor uses the control // When using closed-loop control, the drive motor uses the control
// output type specified by SwerveModuleConstants.DriveMotorClosedLoopOutput // output type specified by SwerveModuleConstants.DriveMotorClosedLoopOutput
private static final Slot0Configs driveGains = new Slot0Configs() private static final Slot0Configs driveGains = new Slot0Configs()
.withKP(0.1).withKI(0).withKD(0) .withKP(0.01).withKI(0).withKD(0)
.withKS(0).withKV(0.124); .withKS(0.05).withKV(0.117);
// The closed-loop output type to use for the steer motors; // The closed-loop output type to use for the steer motors;
// This affects the PID/FF gains 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(); private static final CANcoderConfiguration encoderInitialConfigs = new CANcoderConfiguration();
// Configs for the Pigeon 2; leave this null to skip applying Pigeon 2 configs // 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; // CAN bus that the devices are located on;
// All swerve devices must share the same CAN bus // All swerve devices must share the same CAN bus
@@ -99,7 +108,7 @@ public class TunerConstants {
// These are only used for simulation // These are only used for simulation
private static final MomentOfInertia kSteerInertia = KilogramSquareMeters.of(0.01); 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 // Simulated voltage necessary to overcome friction
private static final Voltage kSteerFrictionVoltage = Volts.of(0.2); private static final Voltage kSteerFrictionVoltage = Volts.of(0.2);
private static final Voltage kDriveFrictionVoltage = Volts.of(0.2); private static final Voltage kDriveFrictionVoltage = Volts.of(0.2);