auto, pid, velocity changes

diff --git a/src/main/deploy/pathplanner/autos/LeftLiberalDoubleSwipe.auto b/src/main/deploy/pathplanner/autos/LeftLiberalDoubleSwipe.auto
index 25b15e39f90c0aacce380a202860eb5266ac1311..d9eeba9dfb2cc7b0fafc1313118466cfa76d85e2 100644 (file)
--- a/src/main/deploy/pathplanner/autos/LeftLiberalDoubleSwipe.auto
+++ b/src/main/deploy/pathplanner/autos/LeftLiberalDoubleSwipe.auto
@@ -37,7 +37,7 @@
         {
           "type": "wait",
           "data": {
-            "waitTime": 1.5
+            "waitTime": 2.0
           }
         },
         {
@@ -103,7 +103,7 @@
         {
           "type": "wait",
           "data": {
-            "waitTime": 1.0
+            "waitTime": 1.5
           }
         },
         {
@@ -115,7 +115,7 @@
         {
           "type": "wait",
           "data": {
-            "waitTime": 1.0
+            "waitTime": 0.5
           }
         }
       ]

diff --git a/src/main/deploy/pathplanner/paths/Swipe1.path b/src/main/deploy/pathplanner/paths/Swipe1.path
index 645b5bd10b57fe11c35d7a78b339777c746d5592..569e46b7aed042c6935e9c63e9397d0b331b8781 100644 (file)
--- a/src/main/deploy/pathplanner/paths/Swipe1.path
+++ b/src/main/deploy/pathplanner/paths/Swipe1.path
@@ -147,7 +147,7 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 2.0,
+    "maxVelocity": 3.0,
     "maxAcceleration": 2.0,
     "maxAngularVelocity": 200.0,
     "maxAngularAcceleration": 300.0,

diff --git a/src/main/deploy/pathplanner/paths/Swipe2.path b/src/main/deploy/pathplanner/paths/Swipe2.path
index 5efb8f7048008af7802c0d87576cee5c538314be..8086c989d045cff705313b562c8c69db6405172b 100644 (file)
--- a/src/main/deploy/pathplanner/paths/Swipe2.path
+++ b/src/main/deploy/pathplanner/paths/Swipe2.path
@@ -114,7 +114,7 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 2.0,
+    "maxVelocity": 3.0,
     "maxAcceleration": 2.0,
     "maxAngularVelocity": 200.0,
     "maxAngularAcceleration": 300.0,

diff --git a/src/main/java/frc/robot/constants/AutoConstants.java b/src/main/java/frc/robot/constants/AutoConstants.java
index c072c6bfb51428b3844e984bf37b81b8e53afcc2..c4018ad02f4791a79b388cc8a25c2e1dcc281477 100644 (file)
--- a/src/main/java/frc/robot/constants/AutoConstants.java
+++ b/src/main/java/frc/robot/constants/AutoConstants.java
@@ -21,8 +21,8 @@ public class AutoConstants {
 
     public static RobotConfig  CONFIG;
     public static final PPHolonomicDriveController AUTO_CONTROLLER = new PPHolonomicDriveController( 
-            new PIDConstants(6.0, 0.0, 0.5), // Translation PID constants
-            new PIDConstants(5.0, 0.0, 1.0) // Rotation PID constants
+            new PIDConstants(3.0, 0.0, 0.5), // Translation PID constants
+            new PIDConstants(4.0, 0.0, 1.0) // Rotation PID constants
         );