From aab546e6cc7e14924cf24ea33539960f48bf69e2 Mon Sep 17 00:00:00 2001
From: iefomit <timofei.stem@gmail.com>
Date: Mon, 30 Mar 2026 16:46:33 -0700
Subject: [PATCH] auto, pid, velocity changes

---
 .../deploy/pathplanner/autos/LeftLiberalDoubleSwipe.auto    | 6 +++---
 src/main/deploy/pathplanner/paths/Swipe1.path               | 2 +-
 src/main/deploy/pathplanner/paths/Swipe2.path               | 2 +-
 src/main/java/frc/robot/constants/AutoConstants.java        | 4 ++--
 4 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/src/main/deploy/pathplanner/autos/LeftLiberalDoubleSwipe.auto b/src/main/deploy/pathplanner/autos/LeftLiberalDoubleSwipe.auto
index 25b15e3..d9eeba9 100644
--- a/src/main/deploy/pathplanner/autos/LeftLiberalDoubleSwipe.auto
+++ b/src/main/deploy/pathplanner/autos/LeftLiberalDoubleSwipe.auto
@@ -37,7 +37,7 @@
         {
           "type": "wait",
           "data": {
-            "waitTime": 1.5
+            "waitTime": 2.0
           }
         },
         {
@@ -103,7 +103,7 @@
         {
           "type": "wait",
           "data": {
-            "waitTime": 1.0
+            "waitTime": 1.5
           }
         },
         {
@@ -115,7 +115,7 @@
         {
           "type": "wait",
           "data": {
-            "waitTime": 1.0
+            "waitTime": 0.5
           }
         }
       ]
diff --git a/src/main/deploy/pathplanner/paths/Swipe1.path b/src/main/deploy/pathplanner/paths/Swipe1.path
index 645b5bd..569e46b 100644
--- a/src/main/deploy/pathplanner/paths/Swipe1.path
+++ b/src/main/deploy/pathplanner/paths/Swipe1.path
@@ -147,7 +147,7 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 2.0,
+    "maxVelocity": 3.0,
     "maxAcceleration": 2.0,
     "maxAngularVelocity": 200.0,
     "maxAngularAcceleration": 300.0,
diff --git a/src/main/deploy/pathplanner/paths/Swipe2.path b/src/main/deploy/pathplanner/paths/Swipe2.path
index 5efb8f7..8086c98 100644
--- a/src/main/deploy/pathplanner/paths/Swipe2.path
+++ b/src/main/deploy/pathplanner/paths/Swipe2.path
@@ -114,7 +114,7 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 2.0,
+    "maxVelocity": 3.0,
     "maxAcceleration": 2.0,
     "maxAngularVelocity": 200.0,
     "maxAngularAcceleration": 300.0,
diff --git a/src/main/java/frc/robot/constants/AutoConstants.java b/src/main/java/frc/robot/constants/AutoConstants.java
index c072c6b..c4018ad 100644
--- a/src/main/java/frc/robot/constants/AutoConstants.java
+++ b/src/main/java/frc/robot/constants/AutoConstants.java
@@ -21,8 +21,8 @@ public class AutoConstants {
 
     public static RobotConfig  CONFIG;
     public static final PPHolonomicDriveController AUTO_CONTROLLER = new PPHolonomicDriveController( 
-            new PIDConstants(6.0, 0.0, 0.5), // Translation PID constants
-            new PIDConstants(5.0, 0.0, 1.0) // Rotation PID constants
+            new PIDConstants(3.0, 0.0, 0.5), // Translation PID constants
+            new PIDConstants(4.0, 0.0, 1.0) // Rotation PID constants
         );
    
 
-- 
2.39.5