From 2f147d5edc2d77be29170fd7c413817ed0346a7a Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Wed, 26 Nov 2025 17:58:22 -0500
Subject: [PATCH] modifier le path pour les tests

---
 .../deploy/pathplanner/paths/New Path.path     | 18 +++++++++---------
 src/main/deploy/pathplanner/settings.json      |  2 +-
 .../subsystems/CommandSwerveDrivetrain.java    |  6 +++---
 3 files changed, 13 insertions(+), 13 deletions(-)

diff --git a/src/main/deploy/pathplanner/paths/New Path.path b/src/main/deploy/pathplanner/paths/New Path.path
index b6f4c74..601f47e 100644
--- a/src/main/deploy/pathplanner/paths/New Path.path	
+++ b/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,
diff --git a/src/main/deploy/pathplanner/settings.json b/src/main/deploy/pathplanner/settings.json
index d25855b..1ace239 100644
--- a/src/main/deploy/pathplanner/settings.json
+++ b/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,
diff --git a/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java b/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java
index 410d8ec..373a09e 100644
--- a/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java
+++ b/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java
@@ -62,11 +62,11 @@ 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
@@ -100,7 +100,7 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
         if (Utils.isSimulation()) {
             startSimThread();
         }
-        //configureAutoBuilder();
+        configureAutoBuilder();
     }
 
     /**