From: iefomit <timofei.stem@gmail.com>
Date: Sat, 7 Mar 2026 20:38:27 +0000 (-0800)
Subject: slow down autos
X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=433ca996746bb4fcc758d03f60931afa7630e8af;p=FRC2026.git

slow down autos
---

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 62211f8..ed156e7 100644
--- a/src/main/deploy/pathplanner/paths/#1 Left under the trench.path	
+++ b/src/main/deploy/pathplanner/paths/#1 Left under the trench.path	
@@ -91,12 +91,6 @@
         "type": "parallel",
         "data": {
           "commands": [
-            {
-              "type": "named",
-              "data": {
-                "name": "Extend Intake"
-              }
-            },
             {
               "type": "named",
               "data": {
@@ -131,10 +125,10 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0,
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
+    "maxAngularVelocity": 100.0,
+    "maxAngularAcceleration": 150.0,
     "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 ac80944..8da5fc0 100644
--- 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": 3.0,
-    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0,
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
+    "maxAngularVelocity": 100.0,
+    "maxAngularAcceleration": 150.0,
     "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 9bdefca..31adb37 100644
--- 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": 3.0,
-    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0,
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
+    "maxAngularVelocity": 100.0,
+    "maxAngularAcceleration": 150.0,
     "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 bcf06eb..c48dda2 100644
--- 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": 3.0,
-    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0,
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
+    "maxAngularVelocity": 100.0,
+    "maxAngularAcceleration": 150.0,
     "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 450d0fe..0b49974 100644
--- 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": 3.0,
-    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0,
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
+    "maxAngularVelocity": 100.0,
+    "maxAngularAcceleration": 150.0,
     "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 e151620..a4dd615 100644
--- 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	
@@ -119,10 +119,10 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0,
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
+    "maxAngularVelocity": 100.0,
+    "maxAngularAcceleration": 150.0,
     "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 a26fd7a..7c0ba24 100644
--- 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": 3.0,
-    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0,
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
+    "maxAngularVelocity": 100.0,
+    "maxAngularAcceleration": 150.0,
     "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 d67cdf6..fef1f66 100644
--- 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	
@@ -41,7 +41,7 @@
       },
       "nextControl": {
         "x": 2.7711593789995277,
-        "y": 0.6112913853949425
+        "y": 0.6112913853949427
       },
       "isLocked": false,
       "linkedName": null
@@ -170,10 +170,10 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0,
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
+    "maxAngularVelocity": 100.0,
+    "maxAngularAcceleration": 150.0,
     "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 6e453ea..1807d3c 100644
--- 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": 3.0,
-    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0,
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
+    "maxAngularVelocity": 100.0,
+    "maxAngularAcceleration": 150.0,
     "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 0bec0ed..c83c73b 100644
--- 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	
@@ -98,10 +98,10 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0,
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
+    "maxAngularVelocity": 100.0,
+    "maxAngularAcceleration": 150.0,
     "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 a306742..adfde55 100644
--- a/src/main/deploy/pathplanner/paths/DELETE THIS.path	
+++ b/src/main/deploy/pathplanner/paths/DELETE THIS.path	
@@ -125,10 +125,10 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0,
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
+    "maxAngularVelocity": 100.0,
+    "maxAngularAcceleration": 150.0,
     "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 0ebfc62..2a81f79 100644
--- 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": 3.0,
-    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0,
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
+    "maxAngularVelocity": 100.0,
+    "maxAngularAcceleration": 150.0,
     "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 f74fdd9..aa31d89 100644
--- 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": 3.0,
-    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0,
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
+    "maxAngularVelocity": 100.0,
+    "maxAngularAcceleration": 150.0,
     "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 dad32aa..89e4f0d 100644
--- 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": 3.0,
-    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0,
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
+    "maxAngularVelocity": 100.0,
+    "maxAngularAcceleration": 150.0,
     "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 1532739..84bc285 100644
--- 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": 3.0,
-    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0,
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
+    "maxAngularVelocity": 100.0,
+    "maxAngularAcceleration": 150.0,
     "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 94a99a1..dca9e3c 100644
--- a/src/main/deploy/pathplanner/paths/Straight #2.path	
+++ b/src/main/deploy/pathplanner/paths/Straight #2.path	
@@ -21,7 +21,7 @@
       },
       "prevControl": {
         "x": 6.3,
-        "y": 0.791
+        "y": 0.7910000000000001
       },
       "nextControl": null,
       "isLocked": false,
@@ -33,10 +33,10 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0,
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
+    "maxAngularVelocity": 100.0,
+    "maxAngularAcceleration": 150.0,
     "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 3859b2d..cfac119 100644
--- 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": 3.0,
-    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0,
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
+    "maxAngularVelocity": 100.0,
+    "maxAngularAcceleration": 150.0,
     "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 ec44fb5..4601ea3 100644
--- 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": 3.0,
-    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0,
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
+    "maxAngularVelocity": 100.0,
+    "maxAngularAcceleration": 150.0,
     "nominalVoltage": 12.0,
     "unlimited": false
   },
diff --git a/src/main/deploy/pathplanner/settings.json b/src/main/deploy/pathplanner/settings.json
index 5c2785e..c9b3e55 100644
--- a/src/main/deploy/pathplanner/settings.json
+++ b/src/main/deploy/pathplanner/settings.json
@@ -10,10 +10,10 @@
     "Right Autos"
   ],
   "autoFolders": [],
-  "defaultMaxVel": 3.0,
-  "defaultMaxAccel": 3.0,
-  "defaultMaxAngVel": 540.0,
-  "defaultMaxAngAccel": 720.0,
+  "defaultMaxVel": 0.5,
+  "defaultMaxAccel": 0.5,
+  "defaultMaxAngVel": 100.0,
+  "defaultMaxAngAccel": 150.0,
   "defaultNominalVoltage": 12.0,
   "robotMass": 63.37,
   "robotMOI": 4.183,