Setpoint generator #288
Setpoint generator #288
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…functional (removed import to add this comment quickly)
(now its time to implement and probably clean up some more)
….. again comment out discretize and check for satisfying constraints (still problem with rotating and moving???)
| protected final static SwerveKinematicLimits KINEMATIC_LIMITS = new SwerveKinematicLimits(); | ||
| static { | ||
| KINEMATIC_LIMITS.MAX_DRIVE_VELOCITY = AutoConstants.MAX_SPEED_METERS_PER_SECOND; // m/s | ||
| KINEMATIC_LIMITS.MAX_DRIVE_ACCELERATION = 30.0; // m/s^2 |
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this needs to be tuned, but i have no idea what it should be
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Yes.. I don't know how we might calculate that, I'll try to do some more research later...
src/main/java/frc/robot/util/custom/geometry/CustomTwist2d.java
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While you can use these comments to improve this pr, would you be okay if it was closed due to worlds being so soon and this not showing itself as a huge priority since our autos aren't bad by any means...? |
Sounds fair enough, I'm quite sad this wont end up being used for anything this year, but hey! At least it cool! It will also lead to some better implementation next year if the team goes to advantage kit |
...i cant believe i forgot
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I am going to turn this into a draft, as this PR will never see the light of day, until next year... (maybe) |
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