2026-Robot-Code/src/main/deploy/constants/comp/DriveConstants.json at d2b5df3a8a9d97aa8fbcb494636f3d1326e70798 · team401/2026-Robot-Code · GitHub

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{
  "maxLinearSpeed": {
    "value": 4.0,
    "unit": "Meter per Second"
  },
  "maxAngularSpeed": {
    "value": 7.2,
    "unit": "Radian per Second"
  },
  "joystickDeadband": 0.02,
  "joystickMagnitudeExponent": 2.0,
  "linearDriveProfileMaxLinearVelocity": {
    "value": 4.0,
    "unit": "Meter per Second"
  },
  "linearDriveProfileMaxAngularVelocity": {
    "value": 6.2,
    "unit": "Radian per Second"
  },
  "linearDriveProfileMaxLinearAcceleration": {
    "value": 6.0,
    "unit": "Meter per Second per Second"
  },
  "linearDriveProfileMaxAngularAcceleration": {
    "value": 6.0,
    "unit": "Radian per Second per Second"
  },
  "linearDriveMaxAngularError": {
    "value": 5.0,
    "unit": "Degree"
  },
  "linearDriveMaxPositionError": {
    "value": 0.05,
    "unit": "Meter"
  },
  "linearDriveMaxLinearVelocityError": {
    "value": 0.05,
    "unit": "Meter per Second"
  },
  "linearDriveMaxAngularVelocityError": {
    "value": 0.05,
    "unit": "Radian per Second"
  },
  "steerGains": {
    "kP": 100.0,
    "kI": 0.0,
    "kD": 0.5,
    "kS": 0.1,
    "kG": 0.0,
    "kV": 2.49,
    "kA": 0.0
  },
  "driveGains": {
    "kP": 0.1,
    "kI": 0.0,
    "kD": 0.0,
    "kS": 0.32275,
    "kG": 0.0,
    "kV": 0.82219,
    "kA": 0.0
  },
  "bumpOdometryIgnoreTime": {
    "value": 0.25,
    "unit": "Second"
  },
  "maxOdometryTilt": {
    "value": 5.0,
    "unit": "Degree"
  },
  "maxOdometryZAcceleration": {
    "value": 5.0,
    "unit": "Meter per Second per Second"
  }
}