added better slew rate for drivetrain #15
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moreheadm
commented
Mar 20, 2024
| @@ -96,7 +100,7 @@ public Drivetrain(Settings settings) { | |||
| rightLeader.setSmartCurrentLimit(60); | |||
| leftLeader.setSmartCurrentLimit(60); | |||
| rightLeader.setSmartCurrentLimit(60); | |||
| applytoAllMotors((motor) -> {motor.setOpenLoopRampRate(0.2);}); | |||
| // applytoAllMotors((motor) -> {motor.setOpenLoopRampRate(0.2);}); | |||
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I realized you should do
applytoAllMotors((motor) -> {motor.setOpenLoopRampRate(0);});
because the previous setting of 0.2 is saved in flash on the SparkMax.
| // There is a different system used than previous years because MotorControlGroup is deprecated :(. | ||
| // We set a motor to a leader, and make followers follow the leader in the constructor. | ||
| // Front wheels are leaders for no reason because its redundant | ||
| BetterSlewRateLimiter slewRateLimiter = new BetterSlewRateLimiter(60, 0, 0); |
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I realized two things. One, we calculate 60 in terms of volts, but when we actually use this function it's in terms of percent output. So, it should be 5, not 60 (1 / 0.2 = 5).
Second, the deceleration limit is currently 0 which means it will never decelerate. You should set it to something high, like 100.
If you want to be better, move these numbers to constants.
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