From: WesleyWong-972 <wesleycwong@gmail.com>
Date: Thu, 2 Apr 2026 01:57:45 +0000 (-0700)
Subject: comp tmr...
X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=716c7b0c6b8720397b6b473bbfbad32aa7b70560;p=FRC2026.git

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 86652cc..8a15518 100644
--- 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 e01162d..d0e29ae 100644
--- 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 4158865..f007c36 100644
--- 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 7f271f1..21386be 100644
--- 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 c8a0cd0..1bb89a1 100644
--- 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 c4018ad..b1d0cd8 100644
--- 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 0e1adf8..7a8b9af 100644
--- 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