From 9652b131ba5cd839cfc8cb4b1bda604b23a21a96 Mon Sep 17 00:00:00 2001 From: maxwtan <100314265+MaxwellTTan20@users.noreply.github.com> Date: Wed, 25 Feb 2026 15:17:54 -0800 Subject: [PATCH] constants --- src/main/deploy/pathplanner/settings.json | 2 +- .../java/frc/robot/constants/swerve/DriveConstants.java | 6 +++--- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/src/main/deploy/pathplanner/settings.json b/src/main/deploy/pathplanner/settings.json index 8e76fa5..b0249ee 100644 --- a/src/main/deploy/pathplanner/settings.json +++ b/src/main/deploy/pathplanner/settings.json @@ -15,7 +15,7 @@ "defaultMaxAngVel": 540.0, "defaultMaxAngAccel": 720.0, "defaultNominalVoltage": 12.0, - "robotMass": 58.9670081, + "robotMass": 61.098892, "robotMOI": 7.504, "robotTrackwidth": 0.546, "driveWheelRadius": 0.05, diff --git a/src/main/java/frc/robot/constants/swerve/DriveConstants.java b/src/main/java/frc/robot/constants/swerve/DriveConstants.java index b6f326a..827817a 100644 --- a/src/main/java/frc/robot/constants/swerve/DriveConstants.java +++ b/src/main/java/frc/robot/constants/swerve/DriveConstants.java @@ -25,7 +25,7 @@ public class DriveConstants { */ public static final double ROBOT_WIDTH_WITH_BUMPERS = 0.832; - public static double ROBOT_MASS = 31; + public static double ROBOT_MASS = Units.lbsToKilograms(108.3 + 13 + 13.4); /** Radius of the drive wheels [meters]. */ public static final double WHEEL_RADIUS = Units.inchesToMeters(1.95); @@ -213,8 +213,8 @@ public class DriveConstants { INVERT_STEER_MOTOR = InvertedValue.CounterClockwise_Positive; // Gear ratios - DRIVE_GEAR_RATIO = (54.0 / 14.0) * (25.0 / 32.0) * (30.0 / 15.0); //R2 Ratio - // DRIVE_GEAR_RATIO = (54.0 / 14.0) * (25.0 / 32.0) * (30.0 / 15.0); //R1 Ratio + //DRIVE_GEAR_RATIO = (54.0 / 14.0) * (25.0 / 32.0) * (30.0 / 15.0); //R2 Ratio + DRIVE_GEAR_RATIO = (54.0 / 14.0) * (25.0 / 32.0) * (30.0 / 15.0); //R1 Ratio STEER_GEAR_RATIO = 287.0 / 11.0; // Gyro is mounted under the robot -- 2.39.5