From 9f693abaf1018216eeb23b23ec12a41f07ccd50c Mon Sep 17 00:00:00 2001 From: iefomit Date: Sat, 28 Mar 2026 16:49:45 -0700 Subject: [PATCH] higher correction, lower min --- src/main/java/frc/robot/constants/GyroBiasConstants.java | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/robot/constants/GyroBiasConstants.java b/src/main/java/frc/robot/constants/GyroBiasConstants.java index e7d5f6d..e3d5480 100644 --- a/src/main/java/frc/robot/constants/GyroBiasConstants.java +++ b/src/main/java/frc/robot/constants/GyroBiasConstants.java @@ -11,13 +11,13 @@ public class GyroBiasConstants { public static final double MAX_ANGLE_DIFF_RAD = Math.toRadians(45); /** minimum correction to apply in radians */ - public static final double MIN_CORRECTION_RAD = Math.toRadians(1.0); + public static final double MIN_CORRECTION_RAD = Math.toRadians(0.1); /** fraction of the correction to apply (0.0 to 1.0) */ public static final double CORRECTION_FRACTION = 0.2; /** maximum correction per cycle in radians */ - public static final double MAX_CORRECTION_PER_CYCLE_RAD = 0.05; // 2.9 deg + public static final double MAX_CORRECTION_PER_CYCLE_RAD = Math.toRadians(5); /** alpha for exponential moving average 0.0 to 1.0, higher is more responsive */ public static final double EMA_ALPHA = 0.3; -- 2.39.5