R: get started feedforward tuning

svhsrobotics · Feb 9, 2024 · c4daf65 · c4daf65
1 parent 8c28beb
commit c4daf65
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Showing 2 changed files with 7 additions and 3 deletions.
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/RoboticaBot.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/RoboticaBot.java
@@ -59,7 +59,11 @@ public static double getMotorVelocityF(double ticksPerSecond) {
     public static double MAX_ANG_ACCEL = Math.toRadians(360);
     public static double MAX_ANG_VEL = Math.toRadians(360);
     public static double TRACK_WIDTH = 12;
-    public static double kV = 1.0/30;
+
+    public static double rpmToVelocity(double rpm) {
+        return rpm * GEAR_RATIO * 2 * Math.PI * WHEEL_RADIUS / 60.0;
+    }
+    public static double kV = 1.0/rpmToVelocity(30);
     public static double kA = 0.0;
     public static double kStatic = 0;
     public static double X_MULTIPLIER = 1;

diff --git a/...ode/src/main/java/org/firstinspires/ftc/teamcode/drive/tuning/ManualFeedforwardTuner.java b/...ode/src/main/java/org/firstinspires/ftc/teamcode/drive/tuning/ManualFeedforwardTuner.java
@@ -17,14 +17,14 @@
 import com.acmerobotics.roadrunner.profile.MotionState;
 import com.acmerobotics.roadrunner.util.NanoClock;
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
-import com.qualcomm.robotcore.eventloop.opmode.Disabled;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.hardware.VoltageSensor;
 import com.qualcomm.robotcore.util.RobotLog;
 
 import org.firstinspires.ftc.robotcore.external.Telemetry;
 import org.firstinspires.ftc.teamcode.drive.PsiBot;
 import org.firstinspires.ftc.teamcode.drive.Robot;
+import org.firstinspires.ftc.teamcode.drive.RoboticaBot;
 import org.firstinspires.ftc.teamcode.drive.TrajectoryDrive;
 
 import java.util.Objects;
@@ -118,7 +118,7 @@ public void runOpMode() {
                     }
 
                     MotionState motionState = activeProfile.get(profileTime);
-                    double targetPower = Kinematics.calculateMotorFeedforward(motionState.getV(), motionState.getA(), PsiBot.kV, PsiBot.kA, PsiBot.kStatic);
+                    double targetPower = Kinematics.calculateMotorFeedforward(motionState.getV(), motionState.getA(), RoboticaBot.kV, RoboticaBot.kA, RoboticaBot.kStatic);
 
 
                     final double NOMINAL_VOLTAGE = 12.0;