max accel again since it was overriden

DeepBlueRobotics · Mar 11, 2024 · e8dec6b · e8dec6b
1 parent d3778c1
commit e8dec6b
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/src/main/java/org/carlmontrobotics/Constants.java b/src/main/java/org/carlmontrobotics/Constants.java
@@ -64,8 +64,8 @@ public static final class Arm {
 		public static final double kA = 0.9569 / (2 * Math.PI);
 		public static final double IZONE_RAD = 0;
 		//fine for now, change it later before use - ("Incorect use of setIZone()" Issue #22)
-		public static final double MAX_FF_VEL_RAD_P_S = 0.2; //rad/s Aarav did the work
-		public static final double MAX_FF_ACCEL_RAD_P_S =  .0183; // rad / s^2 Aarav did the math
+		//public static final double MAX_FF_VEL_RAD_P_S = 0.2; //rad/s
+		public static final double MAX_FF_ACCEL_RAD_P_S =  53.728; // rad / s^2 ((.89*2)/(1.477/(61.875^2))/61.875)-20.84
 
 
 		public static final double MIN_VOLTAGE = -12; //-((kS + kG + 1)/12);