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config.txt
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93 lines (80 loc) · 2.6 KB
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# .d8888b. .d88888b. 888b 888 8888888888 8888888 .d8888b.
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# This is the config file, we are awesome
# Main constants
main_RotateScale4Targeting = 0.25
main_CameraFOV = 57
main_TargetTolerance = .05
main_joystickRateLimit = 2.0
main_joystick_error = .05
main_shooter_middle_preset_speed = 950
main_shooter_top_preset_speed = 1100
#end main constants
#Shooter Section
Shooter_KP = .25
Shooter_KI = 0.005
Shooter_KD = 0
Shooter_LINESPERREV = 250
Shooter_MAX_SPEED = 2500
Shooter_Spin = 100
Shooter_Switch_Up = 30
Shooter_Switch_Down = 20
Shooter_ALT_SPEED = 100
Shooter_Wheel_Increment = 50
Shooter_SetPointRateLimit = 125
main_shooter_tank_dif = 5
#end shooter section
#Drive Section
#.125, .005, .04 is pretty good, still got a fault.
#.11, .005, .03 is less spikey, perhaps a bit better. Good base point for now, more testing and finer tuning won't hurt
drive_kp = .11
drive_ki = .005
drive_kd = .03
drive_maxspeed = 5000
drive_encoderlines = 360
drive_EncoderDistPerPulse = 0.003888961
drive_GearRatio = 30.2934
drive_WheelCircumference = 18.85
#end drive section
#Autonomous Section
# 1 = Drive forward and shoot at top goal
# 2 = Stay at key and auto-aim at target
# 3 = Drive forward and shoot at middle goal
# 4 = Feed
auto_program = 3
auto_backward = -.1
auto_shooter = 1100
auto_distancetofender = 90
shooter_leniance = 25
POWER = 0.25
auto_accel_threshold = 1
auto_bump_threshold = 1.4
#end auto section
#Ball Collection Section
ShooterBeltSpeed = .5
BeltMotorSpeed = .4
StarMotorSpeed = .5
#end ball collection section
#Target Section
#end target section
#Vision Section
#end vision section
#Auto Balance
UpperRange = 0.25
LowerRange = -0.15
simulatedSpeed = 0.05
#End auto balance