From: WesleyWong-972 <wesleycwong@gmail.com>
Date: Mon, 23 Mar 2026 23:38:36 +0000 (-0700)
Subject: COSF and limit
X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=a15af186bf369f8ee2fe4729474eed7836c75f34;p=FRC2026.git

COSF and limit

COSF set to 0.9
Lowered current limit on shooter
---

diff --git a/src/main/deploy/pathplanner/autos/Intake.auto b/src/main/deploy/pathplanner/autos/Intake.auto
new file mode 100644
index 0000000..8b56f78
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/Intake.auto
@@ -0,0 +1,19 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "Extend Intake"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/autos/Kousha Double.auto b/src/main/deploy/pathplanner/autos/Kousha Double.auto
new file mode 100644
index 0000000..6cb4690
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/Kousha Double.auto	
@@ -0,0 +1,31 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Kousha S1"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Start Spindexer"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Kousha S2"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/Kousha S1.path b/src/main/deploy/pathplanner/paths/Kousha S1.path
index e2b0a20..d129725 100644
--- a/src/main/deploy/pathplanner/paths/Kousha S1.path	
+++ b/src/main/deploy/pathplanner/paths/Kousha S1.path	
@@ -3,13 +3,13 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 4.45853476821192,
-        "y": 7.664966887417217
+        "x": 4.436754966887417,
+        "y": 7.6431870860927145
       },
       "prevControl": null,
       "nextControl": {
-        "x": 5.458534768211921,
-        "y": 7.664966887417217
+        "x": 5.436754966887418,
+        "y": 7.6431870860927145
       },
       "isLocked": false,
       "linkedName": null
@@ -90,7 +90,21 @@
       "rotationDegrees": 90.0
     }
   ],
-  "constraintZones": [],
+  "constraintZones": [
+    {
+      "name": "Constraints Zone",
+      "minWaypointRelativePos": 2.446143154968738,
+      "maxWaypointRelativePos": 3.6302988186240435,
+      "constraints": {
+        "maxVelocity": 3.0,
+        "maxAcceleration": 2.0,
+        "maxAngularVelocity": 200.0,
+        "maxAngularAcceleration": 300.0,
+        "nominalVoltage": 12.0,
+        "unlimited": false
+      }
+    }
+  ],
   "pointTowardsZones": [],
   "eventMarkers": [
     {
@@ -99,6 +113,18 @@
       "endWaypointRelativePos": null,
       "command": null
     },
+    {
+      "name": "Hood Down",
+      "waypointRelativePos": 0.005559416261295088,
+      "endWaypointRelativePos": null,
+      "command": null
+    },
+    {
+      "name": "Hood Down",
+      "waypointRelativePos": 0.01667824878387202,
+      "endWaypointRelativePos": null,
+      "command": null
+    },
     {
       "name": "Extend Intake",
       "waypointRelativePos": 0.41695621959694984,
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 7d351b5..a914358 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -138,7 +138,7 @@ public class RobotContainer {
         // Load the auto command
         try {
           String koushaAuto = "Kousha Double";
-          //String leftSideAuto = "Right Week V1";
+          //String leftSideAuto = "Left Week V1";
           // String leftSideAuto = "Right Week V1";
           // String leftSideAuto = "Right Week V1";
           // String rightSideAuto = "Right(2) - Under Trench";
diff --git a/src/main/java/frc/robot/constants/swerve/DriveConstants.java b/src/main/java/frc/robot/constants/swerve/DriveConstants.java
index 5d69304..9cce375 100644
--- a/src/main/java/frc/robot/constants/swerve/DriveConstants.java
+++ b/src/main/java/frc/robot/constants/swerve/DriveConstants.java
@@ -53,7 +53,7 @@ public class DriveConstants {
         // To do so, divide by the radius. The radius is the diagonal of the square chassis, diagonal = sqrt(2) * side_length.
         public static final double MAX_ANGULAR_SPEED = MAX_SPEED / ((TRACK_WIDTH / 2) * Math.sqrt(2));
     
-        public static final double COSF = 2.255;
+        public static final double COSF = 0.9;
         
         // The maximum acceleration of the robot, limited by friction
         public static final double MAX_LINEAR_ACCEL = COSF * Constants.GRAVITY_ACCELERATION;
diff --git a/src/main/java/frc/robot/subsystems/shooter/ShooterConstants.java b/src/main/java/frc/robot/subsystems/shooter/ShooterConstants.java
index 6644426..4dc7dff 100644
--- a/src/main/java/frc/robot/subsystems/shooter/ShooterConstants.java
+++ b/src/main/java/frc/robot/subsystems/shooter/ShooterConstants.java
@@ -5,5 +5,5 @@ import edu.wpi.first.math.util.Units;
 public class ShooterConstants {
     public static final double SHOOTER_VELOCITY = 1.0;
     public static final double SHOOTER_LAUNCH_DIAMETER = Units.inchesToMeters(4.0);
-    public static final double SHOOTER_CURRENT_LIMIT = 80;
+    public static final double SHOOTER_CURRENT_LIMIT = 40;
 }