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Fix CAD model and update configs accordingly #4

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Merged
CalicoN00b merged 1 commit into from
Dec 31, 2025
Merged

Fix CAD model and update configs accordingly #4

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Binary file modified AdvantageScope-Assets/Robot_GenericBase/model.glb
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10 changes: 6 additions & 4 deletions src/main/java/frc/robot/subsystems/drive/DriveConstants.java
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Original file line number Diff line number Diff line change
Expand Up @@ -26,7 +26,7 @@
import org.ironmaple.simulation.drivesims.configs.SwerveModuleSimulationConfig;

public class DriveConstants {
public static final double maxSpeedMetersPerSec = 4.8;
public static final double maxSpeedMetersPerSec = 5.7;
public static final double odometryFrequency = 100.0; // Hz
public static final double trackWidth = Units.inchesToMeters(29.5);
public static final double wheelBase = Units.inchesToMeters(29.5);
Expand Down Expand Up @@ -101,8 +101,8 @@ public class DriveConstants {
public static final double turnPIDMaxInput = 2 * Math.PI; // Radians

// PathPlanner configuration
public static final double robotMassKg = 45;
public static final double robotMOI = 6.883;
public static final double robotMassKg = 60.214;
public static final double robotMOI = 2.969;
public static final double wheelCOF = 1.2;
public static final RobotConfig ppConfig = new RobotConfig(
robotMassKg,
Expand All @@ -129,5 +129,7 @@ public class DriveConstants {
Volts.of(0.1),
Meters.of(wheelRadiusMeters),
KilogramSquareMeters.of(0.02),
wheelCOF));
wheelCOF))
.withTrackLengthTrackWidth(Inches.of(29.5), Inches.of(29.5))
.withBumperSize(Inches.of(36), Inches.of(36));
}