slow down turning and arm, make max arm angle less than 90

StuyPulse · Aug 14, 2024 · 5aa1fe5 · 5aa1fe5
1 parent 604f230
commit 5aa1fe5
Showing 1 changed file with 6 additions and 6 deletions.
diff --git a/src/main/java/com/stuypulse/robot/constants/Settings.java b/src/main/java/com/stuypulse/robot/constants/Settings.java
@@ -58,10 +58,10 @@ public static RobotType fromString(String serialNum) {
     public interface Arm {
         double LENGTH = Units.inchesToMeters(16.5);
 
-        SmartNumber MAX_VELOCITY = new SmartNumber("Arm/Max Velocity (deg/s)", SAFE_MODE_ENABLED ? 200 : 400);
-        SmartNumber MAX_ACCELERATION = new SmartNumber("Arm/Max Acceleration (deg/s^2)", SAFE_MODE_ENABLED ? 200 : 425);
+        SmartNumber MAX_VELOCITY = new SmartNumber("Arm/Max Velocity (deg/s)", SAFE_MODE_ENABLED ? 200 : 350);
+        SmartNumber MAX_ACCELERATION = new SmartNumber("Arm/Max Acceleration (deg/s^2)", SAFE_MODE_ENABLED ? 200 : 350);
 
-        SmartNumber MAX_ANGLE = new SmartNumber("Arm/Max Angle (deg)", 90);
+        SmartNumber MAX_ANGLE = new SmartNumber("Arm/Max Angle (deg)", 85);
         SmartNumber MIN_ANGLE = new SmartNumber("Arm/Min Angle (deg)", -90 + 12.25);
 
         SmartNumber MAX_ANGLE_ERROR = new SmartNumber("Arm/Max Angle Error", 2.5);
@@ -149,7 +149,7 @@ public interface FF {
 
         public interface RIGHT {
             public interface PID {
-                double kP = 0.00304711;
+                double kP = 0.000314711;
                 double kI = 0;
                 double kD = 0.0;
             }
@@ -168,8 +168,8 @@ public interface Swerve {
 
         double MAX_LINEAR_VELOCITY = SAFE_MODE_ENABLED ? 1.0 : 4.9;
         double MAX_LINEAR_ACCEL = SAFE_MODE_ENABLED ? 10 : 15;
-        double MAX_ANGULAR_VELOCITY = SAFE_MODE_ENABLED ? 3.0 : 12.0;
-        double MAX_ANGULAR_ACCEL = SAFE_MODE_ENABLED ? 25.0 : 100.0;
+        double MAX_ANGULAR_VELOCITY = SAFE_MODE_ENABLED ? 3.0 : 10.0;
+        double MAX_ANGULAR_ACCEL = SAFE_MODE_ENABLED ? 25.0 : 85.0;
 
         String CAN_BUS_NAME = "swerve";