3/7 afternoon

diff --git a/src/main/deploy/pathplanner/autos/Left(No SOTM) - Under Trench.auto b/src/main/deploy/pathplanner/autos/Left(No SOTM) - Under Trench.auto
index 644c9e9fb660f392f4ab9d8b49b65c823c2f88d1..3442e6d7e97d556aa9ccd9cdd255cb289f4f1ecd 100644 (file)
--- a/src/main/deploy/pathplanner/autos/Left(No SOTM) - Under Trench.auto
+++ b/src/main/deploy/pathplanner/autos/Left(No SOTM) - Under Trench.auto
@@ -7,7 +7,7 @@
         {
           "type": "path",
           "data": {
-            "pathName": "DELETE THIS"
+            "pathName": "#1 Left 2 - Under the trench"
           }
         },
         {

diff --git a/src/main/deploy/pathplanner/paths/#1 Left 2 - Under the trench.path b/src/main/deploy/pathplanner/paths/#1 Left 2 - Under the trench.path
new file mode 100644 (file)
index 0000000..66dab9b
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/#1 Left 2 - Under the trench.path
@@ -0,0 +1,138 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 4.332135231316728,
+        "y": 7.623190984578885
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 5.332740213523133,
+        "y": 7.3757295373665475
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 7.6997627520759195,
+        "y": 7.128268090154211
+      },
+      "prevControl": {
+        "x": 7.036176926828434,
+        "y": 7.610051586728687
+      },
+      "nextControl": {
+        "x": 8.08506207136292,
+        "y": 6.848529062870701
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 7.979501779359431,
+        "y": 6.1814590747330955
+      },
+      "prevControl": {
+        "x": 8.02072158843106,
+        "y": 6.462503227494206
+      },
+      "nextControl": {
+        "x": 7.8611506524317925,
+        "y": 5.374519572953736
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 7.841663907284769,
+        "y": 4.4778559602649
+      },
+      "prevControl": {
+        "x": 7.936465005931199,
+        "y": 5.460593119810201
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 1.6,
+      "rotationDegrees": -104.27189939195472
+    }
+  ],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [
+    {
+      "name": "Extend intake",
+      "waypointRelativePos": 0.0,
+      "endWaypointRelativePos": null,
+      "command": {
+        "type": "parallel",
+        "data": {
+          "commands": [
+            {
+              "type": "named",
+              "data": {
+                "name": "Spin Intake Rollers"
+              }
+            },
+            {
+              "type": "named",
+              "data": {
+                "name": "Extend Intake"
+              }
+            }
+          ]
+        }
+      }
+    },
+    {
+      "name": "Hood Down",
+      "waypointRelativePos": 0,
+      "endWaypointRelativePos": null,
+      "command": {
+        "type": "named",
+        "data": {
+          "name": "Hood Down"
+        }
+      }
+    },
+    {
+      "name": "Stop Hood Down",
+      "waypointRelativePos": 0.5534308211473522,
+      "endWaypointRelativePos": null,
+      "command": {
+        "type": "named",
+        "data": {
+          "name": "Stop Hood Down"
+        }
+      }
+    }
+  ],
+  "globalConstraints": {
+    "maxVelocity": 2.5,
+    "maxAcceleration": 2.5,
+    "maxAngularVelocity": 200.0,
+    "maxAngularAcceleration": 300.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": -110.0
+  },
+  "reversed": false,
+  "folder": "Left Autos",
+  "idealStartingState": {
+    "velocity": 0.0,
+    "rotation": 0.0
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file

diff --git a/src/main/deploy/pathplanner/paths/#1 Left under the trench.path b/src/main/deploy/pathplanner/paths/#1 Left under the trench.path
index ed156e73c10b81dd25a83d99b9e0a6d869996df3..cbefb89539a4a8146ab1a05865e80b43fa2a2366 100644 (file)
--- a/src/main/deploy/pathplanner/paths/#1 Left under the trench.path
+++ b/src/main/deploy/pathplanner/paths/#1 Left under the trench.path
@@ -125,10 +125,10 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 0.5,
-    "maxAcceleration": 0.5,
-    "maxAngularVelocity": 100.0,
-    "maxAngularAcceleration": 150.0,
+    "maxVelocity": 2.5,
+    "maxAcceleration": 2.5,
+    "maxAngularVelocity": 200.0,
+    "maxAngularAcceleration": 300.0,
     "nominalVoltage": 12.0,
     "unlimited": false
   },

diff --git a/src/main/deploy/pathplanner/paths/#1 Right - Under the trench.path b/src/main/deploy/pathplanner/paths/#1 Right - Under the trench.path
index 8da5fc03e9f31572d0493d5d960dce27bcfd33cd..c50eba87822d67b8d6eb9b65abe109f9c01b0efa 100644 (file)
--- a/src/main/deploy/pathplanner/paths/#1 Right - Under the trench.path
+++ b/src/main/deploy/pathplanner/paths/#1 Right - Under the trench.path
@@ -72,10 +72,10 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 0.5,
-    "maxAcceleration": 0.5,
-    "maxAngularVelocity": 100.0,
-    "maxAngularAcceleration": 150.0,
+    "maxVelocity": 2.5,
+    "maxAcceleration": 2.5,
+    "maxAngularVelocity": 200.0,
+    "maxAngularAcceleration": 300.0,
     "nominalVoltage": 12.0,
     "unlimited": false
   },

diff --git a/src/main/deploy/pathplanner/paths/#1 Right to neutral to outpost (diagonal).path b/src/main/deploy/pathplanner/paths/#1 Right to neutral to outpost (diagonal).path
index 31adb3700b04280ff31d6caa5c9a17a52a292a89..10247afe8146666eb4adfe42e69bcde96abe9927 100644 (file)
--- a/src/main/deploy/pathplanner/paths/#1 Right to neutral to outpost (diagonal).path
+++ b/src/main/deploy/pathplanner/paths/#1 Right to neutral to outpost (diagonal).path
@@ -174,10 +174,10 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 0.5,
-    "maxAcceleration": 0.5,
-    "maxAngularVelocity": 100.0,
-    "maxAngularAcceleration": 150.0,
+    "maxVelocity": 2.5,
+    "maxAcceleration": 2.5,
+    "maxAngularVelocity": 200.0,
+    "maxAngularAcceleration": 300.0,
     "nominalVoltage": 12.0,
     "unlimited": false
   },

diff --git a/src/main/deploy/pathplanner/paths/#1(2) Right - Under the trench.path b/src/main/deploy/pathplanner/paths/#1(2) Right - Under the trench.path
index c48dda2a66daa615327f51a7d775ee6c26bc1d53..129bc37a9b568b4b055ed054721d2acaf74359ea 100644 (file)
--- a/src/main/deploy/pathplanner/paths/#1(2) Right - Under the trench.path
+++ b/src/main/deploy/pathplanner/paths/#1(2) Right - Under the trench.path
@@ -143,10 +143,10 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 0.5,
-    "maxAcceleration": 0.5,
-    "maxAngularVelocity": 100.0,
-    "maxAngularAcceleration": 150.0,
+    "maxVelocity": 2.5,
+    "maxAcceleration": 2.5,
+    "maxAngularVelocity": 200.0,
+    "maxAngularAcceleration": 300.0,
     "nominalVoltage": 12.0,
     "unlimited": false
   },

diff --git a/src/main/deploy/pathplanner/paths/#2 Left under the trench.path b/src/main/deploy/pathplanner/paths/#2 Left under the trench.path
index 0b499749aaca7a74cf00eaf4e3a327465b236a97..bf307a6b76104fed868b48f010e03c5145578a42 100644 (file)
--- a/src/main/deploy/pathplanner/paths/#2 Left under the trench.path
+++ b/src/main/deploy/pathplanner/paths/#2 Left under the trench.path
@@ -166,10 +166,10 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 0.5,
-    "maxAcceleration": 0.5,
-    "maxAngularVelocity": 100.0,
-    "maxAngularAcceleration": 150.0,
+    "maxVelocity": 2.5,
+    "maxAcceleration": 2.5,
+    "maxAngularVelocity": 200.0,
+    "maxAngularAcceleration": 300.0,
     "nominalVoltage": 12.0,
     "unlimited": false
   },

diff --git a/src/main/deploy/pathplanner/paths/#2 Left(No SOTM) under the trench.path b/src/main/deploy/pathplanner/paths/#2 Left(No SOTM) under the trench.path
index 1936de6e81a667c6924b47f4dc00fef563da46c7..194cb8b6beff87e340a81f3f08288335173ffa35 100644 (file)
--- a/src/main/deploy/pathplanner/paths/#2 Left(No SOTM) under the trench.path
+++ b/src/main/deploy/pathplanner/paths/#2 Left(No SOTM) under the trench.path
@@ -125,10 +125,10 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 0.5,
-    "maxAcceleration": 0.5,
-    "maxAngularVelocity": 100.0,
-    "maxAngularAcceleration": 150.0,
+    "maxVelocity": 2.5,
+    "maxAcceleration": 2.5,
+    "maxAngularVelocity": 200.0,
+    "maxAngularAcceleration": 300.0,
     "nominalVoltage": 12.0,
     "unlimited": false
   },

diff --git a/src/main/deploy/pathplanner/paths/#2 Right - Under the trench.path b/src/main/deploy/pathplanner/paths/#2 Right - Under the trench.path
index 7c0ba24bd60e2043a15675425ac3bce941a456d2..dc647bd10f58928e23dbef21a8b565e82df4f003 100644 (file)
--- a/src/main/deploy/pathplanner/paths/#2 Right - Under the trench.path
+++ b/src/main/deploy/pathplanner/paths/#2 Right - Under the trench.path
@@ -68,10 +68,10 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 0.5,
-    "maxAcceleration": 0.5,
-    "maxAngularVelocity": 100.0,
-    "maxAngularAcceleration": 150.0,
+    "maxVelocity": 2.5,
+    "maxAcceleration": 2.5,
+    "maxAngularVelocity": 200.0,
+    "maxAngularAcceleration": 300.0,
     "nominalVoltage": 12.0,
     "unlimited": false
   },

diff --git a/src/main/deploy/pathplanner/paths/#2(2) Right - Under the trench.path b/src/main/deploy/pathplanner/paths/#2(2) Right - Under the trench.path
index fef1f662e00c462e63fcbfed1c27ab00d1f954f7..5f8a868613ee47afb3bb1170b60e4259c88fd9aa 100644 (file)
--- a/src/main/deploy/pathplanner/paths/#2(2) Right - Under the trench.path
+++ b/src/main/deploy/pathplanner/paths/#2(2) Right - Under the trench.path
@@ -170,10 +170,10 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 0.5,
-    "maxAcceleration": 0.5,
-    "maxAngularVelocity": 100.0,
-    "maxAngularAcceleration": 150.0,
+    "maxVelocity": 2.5,
+    "maxAcceleration": 2.5,
+    "maxAngularVelocity": 200.0,
+    "maxAngularAcceleration": 300.0,
     "nominalVoltage": 12.0,
     "unlimited": false
   },

diff --git a/src/main/deploy/pathplanner/paths/#3 Right - Under the trench.path b/src/main/deploy/pathplanner/paths/#3 Right - Under the trench.path
index 1807d3c34a7a204ef56c3d149848e7397db9d826..92ad6119551320c4c5fa70d5fd958100f1286ca2 100644 (file)
--- a/src/main/deploy/pathplanner/paths/#3 Right - Under the trench.path
+++ b/src/main/deploy/pathplanner/paths/#3 Right - Under the trench.path
@@ -45,10 +45,10 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 0.5,
-    "maxAcceleration": 0.5,
-    "maxAngularVelocity": 100.0,
-    "maxAngularAcceleration": 150.0,
+    "maxVelocity": 2.5,
+    "maxAcceleration": 2.5,
+    "maxAngularVelocity": 200.0,
+    "maxAngularAcceleration": 300.0,
     "nominalVoltage": 12.0,
     "unlimited": false
   },

diff --git a/src/main/deploy/pathplanner/paths/#3(No SOTM) Left under the trench.path b/src/main/deploy/pathplanner/paths/#3(No SOTM) Left under the trench.path
index c83c73b4efc26ac353c16d7102086a564997570d..7d3189315fe25077c0ac884032aa308f3353cee4 100644 (file)
--- a/src/main/deploy/pathplanner/paths/#3(No SOTM) Left under the trench.path
+++ b/src/main/deploy/pathplanner/paths/#3(No SOTM) Left under the trench.path
@@ -29,21 +29,7 @@
     }
   ],
   "rotationTargets": [],
-  "constraintZones": [
-    {
-      "name": "Constraints Zone",
-      "minWaypointRelativePos": 0,
-      "maxWaypointRelativePos": 1.0,
-      "constraints": {
-        "maxVelocity": 1.5,
-        "maxAcceleration": 3.0,
-        "maxAngularVelocity": 540.0,
-        "maxAngularAcceleration": 720.0,
-        "nominalVoltage": 12.0,
-        "unlimited": false
-      }
-    }
-  ],
+  "constraintZones": [],
   "pointTowardsZones": [],
   "eventMarkers": [
     {
@@ -98,10 +84,10 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 0.5,
-    "maxAcceleration": 0.5,
-    "maxAngularVelocity": 100.0,
-    "maxAngularAcceleration": 150.0,
+    "maxVelocity": 2.5,
+    "maxAcceleration": 2.5,
+    "maxAngularVelocity": 200.0,
+    "maxAngularAcceleration": 300.0,
     "nominalVoltage": 12.0,
     "unlimited": false
   },

diff --git a/src/main/deploy/pathplanner/paths/DELETE THIS.path b/src/main/deploy/pathplanner/paths/DELETE THIS.path
index bf7b915c492d8860c2e933eaf874ac6a0118436d..447af74dfeeacfa29939249968abb9988a39c578 100644 (file)
--- a/src/main/deploy/pathplanner/paths/DELETE THIS.path
+++ b/src/main/deploy/pathplanner/paths/DELETE THIS.path
@@ -131,10 +131,10 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 0.5,
-    "maxAcceleration": 0.5,
-    "maxAngularVelocity": 100.0,
-    "maxAngularAcceleration": 150.0,
+    "maxVelocity": 2.5,
+    "maxAcceleration": 2.5,
+    "maxAngularVelocity": 200.0,
+    "maxAngularAcceleration": 300.0,
     "nominalVoltage": 12.0,
     "unlimited": false
   },

diff --git a/src/main/deploy/pathplanner/paths/Duplicated Not Working.path b/src/main/deploy/pathplanner/paths/Duplicated Not Working.path
index 2a81f797d2b7fc850282ecc2ed84196b39a6ab54..c782704f408df0cb45466efd5525c0943e2eb208 100644 (file)
--- a/src/main/deploy/pathplanner/paths/Duplicated Not Working.path
+++ b/src/main/deploy/pathplanner/paths/Duplicated Not Working.path
@@ -129,10 +129,10 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 0.5,
-    "maxAcceleration": 0.5,
-    "maxAngularVelocity": 100.0,
-    "maxAngularAcceleration": 150.0,
+    "maxVelocity": 2.5,
+    "maxAcceleration": 2.5,
+    "maxAngularVelocity": 200.0,
+    "maxAngularAcceleration": 300.0,
     "nominalVoltage": 12.0,
     "unlimited": false
   },

diff --git a/src/main/deploy/pathplanner/paths/Left bump to full neutral to left climb (diagonal).path b/src/main/deploy/pathplanner/paths/Left bump to full neutral to left climb (diagonal).path
index aa31d89226399177fdea2a4ff1380520504bf0e4..f8c186d76c6b22f57f3a028133df4efd8694b689 100644 (file)
--- a/src/main/deploy/pathplanner/paths/Left bump to full neutral to left climb (diagonal).path
+++ b/src/main/deploy/pathplanner/paths/Left bump to full neutral to left climb (diagonal).path
@@ -180,10 +180,10 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 0.5,
-    "maxAcceleration": 0.5,
-    "maxAngularVelocity": 100.0,
-    "maxAngularAcceleration": 150.0,
+    "maxVelocity": 2.5,
+    "maxAcceleration": 2.5,
+    "maxAngularVelocity": 200.0,
+    "maxAngularAcceleration": 300.0,
     "nominalVoltage": 12.0,
     "unlimited": false
   },

diff --git a/src/main/deploy/pathplanner/paths/Left to neutral to depot (diagonal).path b/src/main/deploy/pathplanner/paths/Left to neutral to depot (diagonal).path
index 89e4f0d3a490c738b0092dba6d89794ea716935f..979338099934cd1b121e23606b684ecee176aed5 100644 (file)
--- a/src/main/deploy/pathplanner/paths/Left to neutral to depot (diagonal).path
+++ b/src/main/deploy/pathplanner/paths/Left to neutral to depot (diagonal).path
@@ -242,10 +242,10 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 0.5,
-    "maxAcceleration": 0.5,
-    "maxAngularVelocity": 100.0,
-    "maxAngularAcceleration": 150.0,
+    "maxVelocity": 2.5,
+    "maxAcceleration": 2.5,
+    "maxAngularVelocity": 200.0,
+    "maxAngularAcceleration": 300.0,
     "nominalVoltage": 12.0,
     "unlimited": false
   },

diff --git a/src/main/deploy/pathplanner/paths/Left to neutral to depot.path b/src/main/deploy/pathplanner/paths/Left to neutral to depot.path
index 84bc285a380f113bffa2f89126e26459ec420bd3..186cdfaacfeb935ba332be46d5665cf8d9905fb0 100644 (file)
--- a/src/main/deploy/pathplanner/paths/Left to neutral to depot.path
+++ b/src/main/deploy/pathplanner/paths/Left to neutral to depot.path
@@ -242,10 +242,10 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 0.5,
-    "maxAcceleration": 0.5,
-    "maxAngularVelocity": 100.0,
-    "maxAngularAcceleration": 150.0,
+    "maxVelocity": 2.5,
+    "maxAcceleration": 2.5,
+    "maxAngularVelocity": 200.0,
+    "maxAngularAcceleration": 300.0,
     "nominalVoltage": 12.0,
     "unlimited": false
   },

diff --git a/src/main/deploy/pathplanner/paths/Straight #2.path b/src/main/deploy/pathplanner/paths/Straight #2.path
index dca9e3c96ace54d43f33785b9736873da6173571..4593417367e32a2e0b3f345d20eaa92e639235a0 100644 (file)
--- a/src/main/deploy/pathplanner/paths/Straight #2.path
+++ b/src/main/deploy/pathplanner/paths/Straight #2.path
@@ -33,10 +33,10 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 0.5,
-    "maxAcceleration": 0.5,
-    "maxAngularVelocity": 100.0,
-    "maxAngularAcceleration": 150.0,
+    "maxVelocity": 2.5,
+    "maxAcceleration": 2.5,
+    "maxAngularVelocity": 200.0,
+    "maxAngularAcceleration": 300.0,
     "nominalVoltage": 12.0,
     "unlimited": false
   },

diff --git a/src/main/deploy/pathplanner/paths/Straight #3.path b/src/main/deploy/pathplanner/paths/Straight #3.path
index cfac119e7a2976c02c0f23c7c69a63e5e09ae8a1..51456013cc4d0641ab8687da98d34e782b00cbeb 100644 (file)
--- a/src/main/deploy/pathplanner/paths/Straight #3.path
+++ b/src/main/deploy/pathplanner/paths/Straight #3.path
@@ -33,10 +33,10 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 0.5,
-    "maxAcceleration": 0.5,
-    "maxAngularVelocity": 100.0,
-    "maxAngularAcceleration": 150.0,
+    "maxVelocity": 2.5,
+    "maxAcceleration": 2.5,
+    "maxAngularVelocity": 200.0,
+    "maxAngularAcceleration": 300.0,
     "nominalVoltage": 12.0,
     "unlimited": false
   },

diff --git a/src/main/deploy/pathplanner/paths/Straight #4.path b/src/main/deploy/pathplanner/paths/Straight #4.path
index 4601ea35e6639ba9a86f7dfb05d90f8eb8f00cce..d275538242fecea054b1f64944c9842ede36ec6f 100644 (file)
--- a/src/main/deploy/pathplanner/paths/Straight #4.path
+++ b/src/main/deploy/pathplanner/paths/Straight #4.path
@@ -33,10 +33,10 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 0.5,
-    "maxAcceleration": 0.5,
-    "maxAngularVelocity": 100.0,
-    "maxAngularAcceleration": 150.0,
+    "maxVelocity": 2.5,
+    "maxAcceleration": 2.5,
+    "maxAngularVelocity": 200.0,
+    "maxAngularAcceleration": 300.0,
     "nominalVoltage": 12.0,
     "unlimited": false
   },

diff --git a/src/main/deploy/pathplanner/settings.json b/src/main/deploy/pathplanner/settings.json
index c9b3e5548f2980f916a37623e2b95006c28479f6..9e1711bde3c9384fd34839f7644998b94914cbe7 100644 (file)
--- a/src/main/deploy/pathplanner/settings.json
+++ b/src/main/deploy/pathplanner/settings.json
@@ -10,10 +10,10 @@
     "Right Autos"
   ],
   "autoFolders": [],
-  "defaultMaxVel": 0.5,
-  "defaultMaxAccel": 0.5,
-  "defaultMaxAngVel": 100.0,
-  "defaultMaxAngAccel": 150.0,
+  "defaultMaxVel": 2.5,
+  "defaultMaxAccel": 2.5,
+  "defaultMaxAngVel": 200.0,
+  "defaultMaxAngAccel": 300.0,
   "defaultNominalVoltage": 12.0,
   "robotMass": 63.37,
   "robotMOI": 4.183,

diff --git a/src/main/java/frc/robot/constants/AutoConstants.java b/src/main/java/frc/robot/constants/AutoConstants.java
index 3feeb0f1ceda100aac4df2b2056cbc5e85bb8d4d..3a97dd44d4fcc9d1df993d159a0f3da9131d9746 100644 (file)
--- a/src/main/java/frc/robot/constants/AutoConstants.java
+++ b/src/main/java/frc/robot/constants/AutoConstants.java
@@ -22,7 +22,7 @@ public class AutoConstants {
     public static RobotConfig  CONFIG;
     public static final PPHolonomicDriveController AUTO_CONTROLLER = new PPHolonomicDriveController( 
             new PIDConstants(3.5, 0.0, 0), // Translation PID constants
-            new PIDConstants(5.0, 0.0, 0.0) // Rotation PID constants
+            new PIDConstants(5.0, 0.0, 1.0) // Rotation PID constants
         );