From d92760a90670a8da23dd3e9c0815ee8ebb9f5f6f Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Tue, 20 Feb 2024 19:35:38 -0500 Subject: [PATCH] w --- src/main/java/frc/robot/subsystem/Drive.java | 8 +------- 1 file changed, 1 insertion(+), 7 deletions(-) diff --git a/src/main/java/frc/robot/subsystem/Drive.java b/src/main/java/frc/robot/subsystem/Drive.java index d55cd6e..f25ec63 100644 --- a/src/main/java/frc/robot/subsystem/Drive.java +++ b/src/main/java/frc/robot/subsystem/Drive.java @@ -20,12 +20,6 @@ import swervelib.parser.SwerveParser; public class Drive extends SubsystemBase { /** Creates a new Drive. */ - - public static final boolean kFrontLeftDriveMotorReversed = true; - public static final boolean kBackLeftDriveMotorReversed = true; - public static final boolean kFrontRightDriveMotorReversed = false; - public static final boolean kBackRightDriveMotorReversed = true; - SwerveDrive swerveDrive; File swerveJsonDirectory = new File(Filesystem.getDeployDirectory(),"swerve"); @@ -41,7 +35,7 @@ public class Drive extends SubsystemBase { e.printStackTrace(); } AutoBuilder.configureHolonomic(swerveDrive::getPose, swerveDrive::resetOdometry, swerveDrive::getRobotVelocity, swerveDrive::setChassisSpeeds, new HolonomicPathFollowerConfig( - new PIDConstants(5,0,0), new PIDConstants(5,0,0), 15, + new PIDConstants(0.4,0,0.01), new PIDConstants(0.4,0,0.01), 1, 0.275, new ReplanningConfig() ), ()->{