From 42b1f5a051a0f4f095eb5a88dac12ae6e372ebdc Mon Sep 17 00:00:00 2001 From: Alvin Zhang <41vin2h4n9@gmail.com> Date: Sat, 28 Sep 2024 14:57:59 -0700 Subject: [PATCH] Update at 'Sat Sep 28 14:57:59 PDT 2024' --- .../org/team1540/robot2024/subsystems/drive/Drivetrain.java | 2 +- 1 file changed, 1 insertion(+), 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 index 3bd74b6..8764f72 100644 --- 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);