Merge branch 'main' of https://git.demerso.net/PLS5618/Reefscape-2025

src/main/deploy/pathplanner/paths/New Path.path

@@ -3,25 +3,25 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 7.564241803278687,
-        "y": 3.899129098360655
+        "x": 16.243499999999997,
+        "y": 6.55025
       },
       "prevControl": null,
       "nextControl": {
-        "x": 6.506996649367605,
-        "y": 3.898163120386143
+        "x": 15.18625440479427,
+        "y": 6.55025
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 6.269569672131147,
-        "y": 3.899129098360655
+        "x": 1.3552499999999998,
+        "y": 6.55025
       },
       "prevControl": {
-        "x": 7.259410179761819,
-        "y": 3.9002985318003183
+        "x": 2.34525,
+        "y": 6.55025
       },
       "nextControl": null,
       "isLocked": false,
@@ -34,7 +34,7 @@
   "eventMarkers": [],
   "globalConstraints": {
     "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
+    "maxAcceleration": 1.0,
     "maxAngularVelocity": 0.1,
     "maxAngularAcceleration": 0.1,
     "nominalVoltage": 12.0,

src/main/deploy/pathplanner/settings.json

@@ -9,7 +9,7 @@
   "defaultMaxAngVel": 540.0,
   "defaultMaxAngAccel": 720.0,
   "defaultNominalVoltage": 12.0,
-  "robotMass": 45.3592,
+  "robotMass": 45.359,
   "robotMOI": 6.883,
   "robotTrackwidth": 0.546,
   "driveWheelRadius": 0.048,

src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java

@@ -67,11 +67,11 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
                 ),
                 new PPHolonomicDriveController(
                     // PID constants for translation
-                    new PIDConstants(63.167, 0, 0.54521),
+                    new PIDConstants(5, 0, 0),
                     // // PID constants for rotation
                     // new PIDConstants(7.9735, 0, 0.038499)
                     // PID constants for rotation
-                    new PIDConstants(43.502,0,2.7353)
+                    new PIDConstants(5,0,0)
                 ),
                 config,
                 // Assume the path needs to be flipped for Red vs Blue, this is normally the case