YAGSL setup ROBOT_MASS

Technical Programming
1

Hey everyone, just looking for an answer to a relatively simple question:
In the Constants file for the YAGSL example project (which I am basing my program off of), there is a ROBOT_MASS variable, but I don’t know how to determine what we should do for our own robot.
here is the line:

 public static final double ROBOT_MASS = (148 - 20.3) * 0.453592; // 32lbs * kg per pound

Do any of you know how I might convert this to my use? Saying for example that our robot weighs 100 pounds?

2

It’s completely optional but you could use it to limit ypur velocity by calculating momentum which is done for you in a little known function in SwerveMath.limitVelocity

3

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