Update at 'Sat Sep 28 14:57:59 PDT 2024'

flamingchickens1540 · Sep 28, 2024 · 42b1f5a · 42b1f5a
1 parent 3a68524
commit 42b1f5a
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/src/main/java/org/team1540/robot2024/subsystems/drive/Drivetrain.java b/src/main/java/org/team1540/robot2024/subsystems/drive/Drivetrain.java
@@ -111,7 +111,7 @@ private Drivetrain(
                 this::setPose,
                 () -> kinematics.toChassisSpeeds(getModuleStates()),
                 this::runVelocity,
-                new HolonomicPathFollowerConfig(new PIDConstants(6.0, 0.0, 0.05),new PIDConstants(15.0, 0.0, 0.0),MAX_LINEAR_SPEED, DRIVE_BASE_RADIUS, new ReplanningConfig()),
+                new HolonomicPathFollowerConfig(new PIDConstants(6.0, 0.0, 0.05),new PIDConstants(12.0, 0.0, 0.0),MAX_LINEAR_SPEED, DRIVE_BASE_RADIUS, new ReplanningConfig()),
                 () -> DriverStation.getAlliance().isPresent() && DriverStation.getAlliance().get() == DriverStation.Alliance.Red,
                 this);
         PPHolonomicDriveController.setRotationTargetOverride(this::getOverrideTargetRotationToSpeaker);