From: iefomit <timofei.stem@gmail.com>
Date: Sat, 28 Mar 2026 23:49:45 +0000 (-0700)
Subject: higher correction, lower min
X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=9f693abaf1018216eeb23b23ec12a41f07ccd50c;p=FRC2026.git

higher correction, lower min
---

diff --git a/src/main/java/frc/robot/constants/GyroBiasConstants.java b/src/main/java/frc/robot/constants/GyroBiasConstants.java
index e7d5f6d..e3d5480 100644
--- a/src/main/java/frc/robot/constants/GyroBiasConstants.java
+++ b/src/main/java/frc/robot/constants/GyroBiasConstants.java
@@ -11,13 +11,13 @@ public class GyroBiasConstants {
     public static final double MAX_ANGLE_DIFF_RAD = Math.toRadians(45);
 
     /** minimum correction to apply in radians */
-    public static final double MIN_CORRECTION_RAD = Math.toRadians(1.0);
+    public static final double MIN_CORRECTION_RAD = Math.toRadians(0.1);
 
     /** fraction of the correction to apply (0.0 to 1.0) */
     public static final double CORRECTION_FRACTION = 0.2;
 
     /** maximum correction per cycle in radians */
-    public static final double MAX_CORRECTION_PER_CYCLE_RAD = 0.05; // 2.9 deg
+    public static final double MAX_CORRECTION_PER_CYCLE_RAD = Math.toRadians(5);
 
     /** alpha for exponential moving average 0.0 to 1.0, higher is more responsive */
     public static final double EMA_ALPHA = 0.3;