2024-02-15 18:25:45 -05:00
parent 08d101b8ca
commit a862197b73
7 changed files with 158 additions and 34 deletions
--- a/src/main/java/frc/robot/subsystem/Drive.java
+++ b/src/main/java/frc/robot/subsystem/Drive.java
@ -38,7 +38,7 @@ 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), 4.5,
+      new PIDConstants(5,0,0), new PIDConstants(5,0,0), 15,
      0.275,
      new ReplanningConfig()
      ), ()->{