Adjust default swerve steer PID gains

CrossTheRoadElec · Dec 3, 2024 · 0df8772 · 0df8772
1 parent f15da7a
commit 0df8772
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Showing 5 changed files with 5 additions and 5 deletions.
diff --git a/cpp/SwerveWithChoreo/src/main/include/generated/TunerConstants.h b/cpp/SwerveWithChoreo/src/main/include/generated/TunerConstants.h
@@ -12,7 +12,7 @@ class TunerConstants {
     // The steer motor uses any SwerveModule.SteerRequestType control request with the
     // output type specified by SwerveModuleConstants::SteerMotorClosedLoopOutput
     static constexpr configs::Slot0Configs steerGains = configs::Slot0Configs{}
-        .WithKP(100).WithKI(0).WithKD(2.0)
+        .WithKP(100).WithKI(0).WithKD(0.5)
         .WithKS(0.2).WithKV(1.59).WithKA(0)
         .WithStaticFeedforwardSign(signals::StaticFeedforwardSignValue::UseClosedLoopSign);
     // When using closed-loop control, the drive motor uses the control

diff --git a/cpp/SwerveWithPathPlanner/src/main/include/generated/TunerConstants.h b/cpp/SwerveWithPathPlanner/src/main/include/generated/TunerConstants.h
@@ -12,7 +12,7 @@ class TunerConstants {
     // The steer motor uses any SwerveModule.SteerRequestType control request with the
     // output type specified by SwerveModuleConstants::SteerMotorClosedLoopOutput
     static constexpr configs::Slot0Configs steerGains = configs::Slot0Configs{}
-        .WithKP(100).WithKI(0).WithKD(2.0)
+        .WithKP(100).WithKI(0).WithKD(0.5)
         .WithKS(0.2).WithKV(1.59).WithKA(0)
         .WithStaticFeedforwardSign(signals::StaticFeedforwardSignValue::UseClosedLoopSign);
     // When using closed-loop control, the drive motor uses the control

diff --git a/java/SwerveWithChoreo/src/main/java/frc/robot/generated/TunerConstants.java b/java/SwerveWithChoreo/src/main/java/frc/robot/generated/TunerConstants.java
@@ -26,7 +26,7 @@ public class TunerConstants {
     // The steer motor uses any SwerveModule.SteerRequestType control request with the
     // output type specified by SwerveModuleConstants.SteerMotorClosedLoopOutput
     private static final Slot0Configs steerGains = new Slot0Configs()
-        .withKP(100).withKI(0).withKD(2.0)
+        .withKP(100).withKI(0).withKD(0.5)
         .withKS(0.2).withKV(1.59).withKA(0)
         .withStaticFeedforwardSign(StaticFeedforwardSignValue.UseClosedLoopSign);
     // When using closed-loop control, the drive motor uses the control

diff --git a/java/SwerveWithPathPlanner/src/main/java/frc/robot/generated/TunerConstants.java b/java/SwerveWithPathPlanner/src/main/java/frc/robot/generated/TunerConstants.java
@@ -26,7 +26,7 @@ public class TunerConstants {
     // The steer motor uses any SwerveModule.SteerRequestType control request with the
     // output type specified by SwerveModuleConstants.SteerMotorClosedLoopOutput
     private static final Slot0Configs steerGains = new Slot0Configs()
-        .withKP(100).withKI(0).withKD(2.0)
+        .withKP(100).withKI(0).withKD(0.5)
         .withKS(0.2).withKV(1.59).withKA(0)
         .withStaticFeedforwardSign(StaticFeedforwardSignValue.UseClosedLoopSign);
     // When using closed-loop control, the drive motor uses the control

diff --git a/python/SwerveWithPathPlanner/generated/tuner_constants.py b/python/SwerveWithPathPlanner/generated/tuner_constants.py
@@ -17,7 +17,7 @@ class TunerConstants:
         configs.Slot0Configs()
         .with_k_p(100)
         .with_k_i(0)
-        .with_k_d(2.0)
+        .with_k_d(0.5)
         .with_k_s(0.2)
         .with_k_v(1.59)
         .with_k_a(0)