1 files changed, 15 insertions, 10 deletions
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index 1ff70bb..c4c2329 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -6,6 +6,7 @@ import com.revrobotics.CANSparkLowLevel.MotorType;
 import edu.wpi.first.math.controller.ArmFeedforward;
 import edu.wpi.first.math.controller.SimpleMotorFeedforward;
 import edu.wpi.first.math.trajectory.TrapezoidProfile;
+import edu.wpi.first.math.util.Units;
 import edu.wpi.first.wpilibj.Encoder;
 import edu.wpi.first.wpilibj.GenericHID;
 import edu.wpi.first.wpilibj.I2C;
@@ -15,21 +16,25 @@ import frc.robot.util.IMUGyro;
 public class Constants
 {
     public static final GenericHID controller = new GenericHID(0);
+    public static final double InputSmoothing = 0.1;
 
     public static final double DriveMaxSpeed = 5; // m/s
+    public static final double DriveMaxAcceleration = 5; // m/s^2
     public static final double DriveMaxAngular = Math.PI; // rad/s?
 
+    public static final double AutonomousMaxSpeed = 0.5; // m/s
+    public static final double AutonomousMaxAcceleration = 0.25; // m/s^2
+
     // for Drivetrain
-    public static final double WheelDiameter = 0.1524; // in meters
-    public static final double TrackWidth = 0.685;  // in meters
-    public static final double EncoderResolution = 4096 / 24;
+    public static final double WheelDiameter = Units.inchesToMeters(6); // in meters
+    public static final double TrackWidth = 0.58;  // in meters
+    public static final double EncoderResolution = 16;
 
     public static final IMUGyro gyro = new IMUGyro(new I2C(Port.kOnboard, 0x68));
 
     public static final TrapezoidProfile.Constraints motor_constraints = 
-        new TrapezoidProfile.Constraints(DriveMaxSpeed, 4.5);
-    public static final SimpleMotorFeedforward motor_feedforward = new SimpleMotorFeedforward(1.1, 3.5);
-    // public static final SimpleMotorFeedforward motor_feedforward = new SimpleMotorFeedforward(0, 0, 0);
+        new TrapezoidProfile.Constraints(DriveMaxSpeed, DriveMaxAcceleration);
+    public static final SimpleMotorFeedforward motor_feedforward = new SimpleMotorFeedforward(0.54082, 2.4705);
 
     public static final CANSparkMax motorL_leader = new CANSparkMax(11, MotorType.kBrushed);
     public static final CANSparkMax motorL_follower = new CANSparkMax(12, MotorType.kBrushed);
@@ -64,12 +69,12 @@ public class Constants
     public static final double ChainEncoderScale = 2600;
 
     public static final TrapezoidProfile.Constraints chain_constraints = 
-        new TrapezoidProfile.Constraints(0, 0);
+        new TrapezoidProfile.Constraints(0.5, 0.5);
 
-    public static final double ChainkP = 0.0;
+    public static final double ChainkP = 45.0;
     public static final double ChainkI = 0.0;
     public static final double ChainkD = 0.0;
     
-    public static final CANSparkMax chain = null;//new CANSparkMax(70, MotorType.kBrushed);
-    public static final Encoder chain_encoder = null;//new Encoder(3, 4);
+    public static final CANSparkMax chain = new CANSparkMax(50, MotorType.kBrushed);
+    public static final Encoder chain_encoder = new Encoder(8, 9);
 }