increased speed, modified pid

diff --git a/src/main/deploy/pathplanner/paths/Full Left Path v3.path b/src/main/deploy/pathplanner/paths/Full Left Path v3.path
index d3e5509a65bd31e2fb263884aba3e4ab6e4d18e2..d351dcd11fab91d29b186dd46b55b6c192168b2e 100644 (file)
--- a/src/main/deploy/pathplanner/paths/Full Left Path v3.path
+++ b/src/main/deploy/pathplanner/paths/Full Left Path v3.path
@@ -121,7 +121,7 @@
   "constraintZones": [
     {
       "name": "Depot",
-      "minWaypointRelativePos": 4.953880764904385,
+      "minWaypointRelativePos": 4.727915194346288,
       "maxWaypointRelativePos": 5.5,
       "constraints": {
         "maxVelocity": 0.5,
@@ -150,7 +150,7 @@
       "minWaypointRelativePos": 2.767154105736777,
       "maxWaypointRelativePos": 4.467941507311604,
       "constraints": {
-        "maxVelocity": 2.0,
+        "maxVelocity": 2.5,
         "maxAcceleration": 1.0,
         "maxAngularVelocity": 200.0,
         "maxAngularAcceleration": 300.0,
@@ -262,7 +262,7 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 1.5,
+    "maxVelocity": 2.5,
     "maxAcceleration": 1.5,
     "maxAngularVelocity": 200.0,
     "maxAngularAcceleration": 150.0,

diff --git a/src/main/java/frc/robot/constants/AutoConstants.java b/src/main/java/frc/robot/constants/AutoConstants.java
index 3a97dd44d4fcc9d1df993d159a0f3da9131d9746..08eadd04f1e7bc1efb6bf0a097ab138482057357 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(3.5, 0.0, 0), // Translation PID constants
+            new PIDConstants(5.0, 0.0, 0.5), // Translation PID constants
             new PIDConstants(5.0, 0.0, 1.0) // Rotation PID constants
         );