Add simulated friction values to SwerveWithPathPlanner

CrossTheRoadElec · Jan 3, 2024 · 61625a4 · 61625a4
1 parent 527e1c0
commit 61625a4
Showing 1 changed file with 5 additions and 0 deletions.
diff --git a/java/SwerveWithPathPlanner/src/main/java/frc/robot/generated/TunerConstants.java b/java/SwerveWithPathPlanner/src/main/java/frc/robot/generated/TunerConstants.java
@@ -58,6 +58,9 @@ public class TunerConstants {
     // These are only used for simulation
     private static final double kSteerInertia = 0.00001;
     private static final double kDriveInertia = 0.001;
+    // Simulated voltage necessary to overcome friction
+    private static final double kSteerFrictionVoltage = 0.25;
+    private static final double kDriveFrictionVoltage = 0.25;
 
     private static final SwerveDrivetrainConstants DrivetrainConstants = new SwerveDrivetrainConstants()
             .withPigeon2Id(kPigeonId)
@@ -75,6 +78,8 @@ public class TunerConstants {
             .withSpeedAt12VoltsMps(kSpeedAt12VoltsMps)
             .withSteerInertia(kSteerInertia)
             .withDriveInertia(kDriveInertia)
+            .withSteerFrictionVoltage(kSteerFrictionVoltage)
+            .withDriveFrictionVoltage(kDriveFrictionVoltage)
             .withFeedbackSource(SteerFeedbackType.FusedCANcoder)
             .withCouplingGearRatio(kCoupleRatio)
             .withSteerMotorInverted(kSteerMotorReversed);