From 6a5ee3c3ab6959d31ebc4fbf5f6b5553656ebd25 Mon Sep 17 00:00:00 2001
From: iefomit <timofei.stem@gmail.com>
Date: Sat, 21 Mar 2026 15:54:26 -0700
Subject: [PATCH] increased velocity + opt. path, works

---
 .../pathplanner/paths/Full Left Path v3.path  | 72 +++++++++----------
 .../constants/swerve/DriveConstants.java      |  2 +-
 2 files changed, 37 insertions(+), 37 deletions(-)

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 d351dcd..72bd96e 100644
--- a/src/main/deploy/pathplanner/paths/Full Left Path v3.path	
+++ b/src/main/deploy/pathplanner/paths/Full Left Path v3.path	
@@ -3,13 +3,13 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 3.7,
+        "x": 3.696241721854304,
         "y": 7.623190984573506
       },
       "prevControl": null,
       "nextControl": {
-        "x": 6.893921116983211,
-        "y": 7.623190984573506
+        "x": 6.785884183141178,
+        "y": 7.490581532356668
       },
       "isLocked": false,
       "linkedName": null
@@ -20,12 +20,12 @@
         "y": 6.428920521945433
       },
       "prevControl": {
-        "x": 7.665365003292386,
-        "y": 6.686760835840097
+        "x": 7.642160343339249,
+        "y": 6.6776345204518766
       },
       "nextControl": {
-        "x": 7.684288184321054,
-        "y": 4.385453912541243
+        "x": 7.9046446321955335,
+        "y": 4.099788174920342
       },
       "isLocked": false,
       "linkedName": null
@@ -36,12 +36,12 @@
         "y": 4.6644128113879
       },
       "prevControl": {
-        "x": 7.722519349903317,
-        "y": 4.908280068851933
+        "x": 7.6169594963016465,
+        "y": 5.113190381183536
       },
       "nextControl": {
-        "x": 7.611361211994106,
-        "y": 4.415716515223697
+        "x": 7.696238889728087,
+        "y": 4.409017442936094
       },
       "isLocked": false,
       "linkedName": null
@@ -52,12 +52,12 @@
         "y": 5.084021352313167
       },
       "prevControl": {
-        "x": 7.118832485314941,
-        "y": 4.554066742084302
+        "x": 6.581262461023123,
+        "y": 4.633009890316522
       },
       "nextControl": {
-        "x": 5.563661514586408,
-        "y": 5.488160945770811
+        "x": 5.730020148249949,
+        "y": 5.746628552722371
       },
       "isLocked": false,
       "linkedName": null
@@ -65,15 +65,15 @@
     {
       "anchor": {
         "x": 6.236512455516015,
-        "y": 7.031435349940688
+        "y": 6.808294701986754
       },
       "prevControl": {
-        "x": 6.607692290036552,
-        "y": 6.097932084737065
+        "x": 6.825847617882709,
+        "y": 6.047265328866834
       },
       "nextControl": {
-        "x": 5.905339551755663,
-        "y": 7.864322695252948
+        "x": 5.336986754966887,
+        "y": 7.969884105960265
       },
       "isLocked": false,
       "linkedName": null
@@ -84,8 +84,8 @@
         "y": 7.623190984573506
       },
       "prevControl": {
-        "x": -0.09030729073703303,
-        "y": 7.623190984573506
+        "x": 0.05365961489070481,
+        "y": 7.556400025312338
       },
       "nextControl": null,
       "isLocked": false,
@@ -120,11 +120,11 @@
   ],
   "constraintZones": [
     {
-      "name": "Depot",
-      "minWaypointRelativePos": 4.727915194346288,
-      "maxWaypointRelativePos": 5.5,
+      "name": "Constraints Zone",
+      "minWaypointRelativePos": 0.9718785151856066,
+      "maxWaypointRelativePos": 2.4701912260967447,
       "constraints": {
-        "maxVelocity": 0.5,
+        "maxVelocity": 0.3,
         "maxAcceleration": 2.0,
         "maxAngularVelocity": 200.0,
         "maxAngularAcceleration": 300.0,
@@ -134,11 +134,11 @@
     },
     {
       "name": "Constraints Zone",
-      "minWaypointRelativePos": 0.9718785151856066,
-      "maxWaypointRelativePos": 2.4701912260967447,
+      "minWaypointRelativePos": 2.767154105736777,
+      "maxWaypointRelativePos": 4.467941507311604,
       "constraints": {
-        "maxVelocity": 0.3,
-        "maxAcceleration": 2.0,
+        "maxVelocity": 3.5,
+        "maxAcceleration": 1.0,
         "maxAngularVelocity": 200.0,
         "maxAngularAcceleration": 300.0,
         "nominalVoltage": 12.0,
@@ -146,12 +146,12 @@
       }
     },
     {
-      "name": "Constraints Zone",
-      "minWaypointRelativePos": 2.767154105736777,
-      "maxWaypointRelativePos": 4.467941507311604,
+      "name": "Depot",
+      "minWaypointRelativePos": 4.727915194346288,
+      "maxWaypointRelativePos": 5.5,
       "constraints": {
-        "maxVelocity": 2.5,
-        "maxAcceleration": 1.0,
+        "maxVelocity": 2.0,
+        "maxAcceleration": 2.0,
         "maxAngularVelocity": 200.0,
         "maxAngularAcceleration": 300.0,
         "nominalVoltage": 12.0,
@@ -262,7 +262,7 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 2.5,
+    "maxVelocity": 3.0,
     "maxAcceleration": 1.5,
     "maxAngularVelocity": 200.0,
     "maxAngularAcceleration": 150.0,
diff --git a/src/main/java/frc/robot/constants/swerve/DriveConstants.java b/src/main/java/frc/robot/constants/swerve/DriveConstants.java
index 5cb0da5..3d14636 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 = 0.9;
+        public static final double COSF = 1.5;
         
         // The maximum acceleration of the robot, limited by friction
         public static final double MAX_LINEAR_ACCEL = COSF * Constants.GRAVITY_ACCELERATION;
-- 
2.39.5