Adjust traction control wheel velocity filter

lasarobotics · Dec 24, 2023 · 8d5e153 · 8d5e153
1 parent fe1f596
commit 8d5e153
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/src/main/java/org/lasarobotics/drive/TractionControlController.java b/src/main/java/org/lasarobotics/drive/TractionControlController.java
@@ -28,7 +28,7 @@ private enum State {
   private final double MIN_SLIP_RATIO = 0.01;
   private final double MAX_SLIP_RATIO = 0.40;
   private final double EPSILON = 1e-3;
-  private final int FILTER_TIME_CONSTANT_MULTIPLIER = 10;
+  private final int FILTER_TIME_CONSTANT_MULTIPLIER = 3;
   private final int DEBOUNCER_TIME_CONSTANT_MULTIPLIER = 5;
 
   private double m_averageWheelSpeed = 0.0;