comp tmr...

The autos werent great... check videos on software slack

Increased turret limit back to 40A because it was slow

diff --git a/src/main/deploy/pathplanner/autos/LeftConservativeDoubleSwipe.auto b/src/main/deploy/pathplanner/autos/LeftConservativeDoubleSwipe.auto
index 86652cc8b7224393d86f844e5d51c5781078ab45..8a15518130be208b0eafc756f12dd3ef0922e510 100644 (file)
--- a/src/main/deploy/pathplanner/autos/LeftConservativeDoubleSwipe.auto
+++ b/src/main/deploy/pathplanner/autos/LeftConservativeDoubleSwipe.auto
@@ -122,6 +122,6 @@
     }
   },
   "resetOdom": true,
-  "folder": "Week 5 autos",
+  "folder": null,
   "choreoAuto": false
 }
\ No newline at end of file

diff --git a/src/main/deploy/pathplanner/autos/LeftLiberalDoubleSwipe.auto b/src/main/deploy/pathplanner/autos/LeftLiberalDoubleSwipe.auto
index e01162da4c940021e2a03c7647f252d7a00368e3..d0e29ae13ddd9ccaaafcf796920ccc4b84adcccc 100644 (file)
--- a/src/main/deploy/pathplanner/autos/LeftLiberalDoubleSwipe.auto
+++ b/src/main/deploy/pathplanner/autos/LeftLiberalDoubleSwipe.auto
@@ -122,6 +122,6 @@
     }
   },
   "resetOdom": true,
-  "folder": "Week 5 autos",
+  "folder": null,
   "choreoAuto": false
 }
\ No newline at end of file

diff --git a/src/main/deploy/pathplanner/autos/RightLiberalDoubleSwipe.auto b/src/main/deploy/pathplanner/autos/RightLiberalDoubleSwipe.auto
index 4158865e73800752525c3578b0819c0bb2e26edf..f007c368d01791b9b5bbbd0ebbde3e3dbbadfe9b 100644 (file)
--- a/src/main/deploy/pathplanner/autos/RightLiberalDoubleSwipe.auto
+++ b/src/main/deploy/pathplanner/autos/RightLiberalDoubleSwipe.auto
@@ -122,6 +122,6 @@
     }
   },
   "resetOdom": true,
-  "folder": "Week 5 autos",
+  "folder": null,
   "choreoAuto": false
 }
\ No newline at end of file

diff --git a/src/main/deploy/pathplanner/paths/W5 Left Trench Start.path b/src/main/deploy/pathplanner/paths/W5 Left Trench Start.path
index 7f271f1306d54f8aab4b4df9eb810785326435d5..21386beaab2163e7000a663a9a260ca847e30c07 100644 (file)
--- a/src/main/deploy/pathplanner/paths/W5 Left Trench Start.path
+++ b/src/main/deploy/pathplanner/paths/W5 Left Trench Start.path
@@ -41,7 +41,7 @@
     "unlimited": false
   },
   "goalEndState": {
-    "velocity": 3.0,
+    "velocity": 0.5,
     "rotation": 0.0
   },
   "reversed": false,

diff --git a/src/main/deploy/pathplanner/paths/W5 Right Trench Start.path b/src/main/deploy/pathplanner/paths/W5 Right Trench Start.path
index c8a0cd0c8fbc6fc54f4074edf9176e69e89173d6..1bb89a1239abc371d31cda42ef6eee294579ab70 100644 (file)
--- a/src/main/deploy/pathplanner/paths/W5 Right Trench Start.path
+++ b/src/main/deploy/pathplanner/paths/W5 Right Trench Start.path
@@ -41,7 +41,7 @@
     "unlimited": false
   },
   "goalEndState": {
-    "velocity": 3,
+    "velocity": 0.5,
     "rotation": 0.0
   },
   "reversed": false,

diff --git a/src/main/java/frc/robot/constants/AutoConstants.java b/src/main/java/frc/robot/constants/AutoConstants.java
index c4018ad02f4791a79b388cc8a25c2e1dcc281477..b1d0cd89040648ab08bbb128bcd6299f2278b19f 100644 (file)
--- a/src/main/java/frc/robot/constants/AutoConstants.java
+++ b/src/main/java/frc/robot/constants/AutoConstants.java
@@ -21,7 +21,7 @@ public class AutoConstants {
 
     public static RobotConfig  CONFIG;
     public static final PPHolonomicDriveController AUTO_CONTROLLER = new PPHolonomicDriveController( 
-            new PIDConstants(3.0, 0.0, 0.5), // Translation PID constants
+            new PIDConstants(3.5, 0.0, 1.0), // Translation PID constants
             new PIDConstants(4.0, 0.0, 1.0) // Rotation PID constants
         );
    

diff --git a/src/main/java/frc/robot/subsystems/turret/TurretConstants.java b/src/main/java/frc/robot/subsystems/turret/TurretConstants.java
index 0e1adf81ca4adf566acf26e2f0b7211e7372a43f..7a8b9af799258ce314664982a8e5b4e73a03bdfe 100644 (file)
--- a/src/main/java/frc/robot/subsystems/turret/TurretConstants.java
+++ b/src/main/java/frc/robot/subsystems/turret/TurretConstants.java
@@ -26,7 +26,7 @@ public class TurretConstants {
 
        public static final double FEEDFORWARD_KV = 0.06;
 
-    public static final double NORMAL_CURRENT_LIMIT = 25.0; // A
+    public static final double NORMAL_CURRENT_LIMIT = 40.0; // A
     public static final double CALIBRATION_CURRENT_LIMIT = 10.0; // A
     public static final double CALIBRATION_CURRENT_THRESHOLD = 9.0; // A