Added a StayStill() autonomous program. Changed "DriveStraight" to drive only 100 inches. Tried to fix "DISTANCE_PER_PULSE" in Drive.java to match 2020 robot drivetrain.

Author: coach-streeter

src/main/java/org/mayheminc/robot2020/RobotContainer.java

@@ -81,7 +81,7 @@ private void configureDefaultCommands() {
     private void configureAutonomousPrograms() {
         LinkedList<Command> autonomousPrograms = new LinkedList<Command>();
 
-        // autonomousPrograms.push(new StayStill());
+        autonomousPrograms.push(new StayStill());
         autonomousPrograms.push(new DriveStraight());
         // autonomousPrograms.push(new TestTurret());
 

src/main/java/org/mayheminc/robot2020/autonomousroutines/DriveStraight.java

@@ -19,9 +19,9 @@ public class DriveStraight extends SequentialCommandGroup {
   public DriveStraight() {
 
     addCommands(new DriveZeroGyro());
-    addCommands(new DriveStraightOnHeading(0.2, DistanceUnits.INCHES, 100, 0));
+    // addCommands(new DriveStraightOnHeading(0.2, DistanceUnits.INCHES, 100, 0));
     addCommands(new DriveStraightOnHeading(0.3, DistanceUnits.INCHES, 100, 0));
-    addCommands(new DriveStraightOnHeading(0.4, DistanceUnits.INCHES, 100, 0));
+    // addCommands(new DriveStraightOnHeading(0.4, DistanceUnits.INCHES, 100, 0));
 
     // addCommands(new ParallelCommandGroup(new IntakeSetPosition(true), new
     // MagazineSetTurntable(0.0)));

src/main/java/org/mayheminc/robot2020/subsystems/Drive.java

@@ -53,8 +53,9 @@ public class Drive extends SubsystemBase {
 	private static final double kToleranceDegreesPIDControl = 0.2;
 
 	// Drive parameters
-	public static final double DISTANCE_PER_PULSE = 3.14 * 8.0 * 36 / 42 / (250 * 4); // pi * diameter * (gear ratio) /
-																						// (counts per rev)
+	// pi * diameter * (pulley ratios) / (counts per rev * gearbox reduction)
+	public static final double DISTANCE_PER_PULSE = 3.14 * 5.75 * 36.0 / 42.0 / (2048.0 * 7.56);
+
 	private boolean m_closedLoopMode = false;
 	private double m_maxWheelSpeed = 1.0; // set to 1.0 as default for "open loop" percentVBus drive
 	private double m_voltageRampRate = 48.0;