admin6494/FRC6494_2026Regional-offseason
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底盘修正ing

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OnDYCLaptop
2026-03-05 19:29:06 +08:00
parent ebcf6ff3c3
commit f7eb1d7d26
3 changed files with 9 additions and 77 deletions
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src/main/java/frc/robot/Constants.java
+3 -3
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@@ -26,15 +26,15 @@ public final class Constants {
public static final Slot0Configs backboardSlot0Configs = new Slot0Configs()
.withKP(0.01).withKI(0).withKD(0)
.withKV(0.008).withKA(0.0).withKS(0.010);
.withKV(0.03).withKA(0.0).withKS(0.010);
public class backboardPositionPID {
public static final double kP = 0.1;
public static final double kP = 0.3;
public static final double kI = 0.0;
public static final double kD = 0.0;
}
public static final double backboardSpeedMax = 30; //也就是output
public static final double backboardSpeedMax = 60; //也就是output
// 背板的上下限位角度
public static final double backboardUpLimit = 3000.0; // 背板上限角度（根据实际需求设置）
public static final double backboardDownLimit = 0.0; // 背板下限角度（根据实际需求设置）