From 9904e9fba30312709fa63461d987abaa6d2a7ef2 Mon Sep 17 00:00:00 2001 From: Aarav Shah Date: Sat, 7 Mar 2020 16:27:06 -0700 Subject: [PATCH] Tune High Gear PIDs Co-Authored-By: Keenan D. Buckley --- src/main/java/frc4388/robot/Constants.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index 3773f0d..3089bce 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -70,7 +70,7 @@ public final class Constants { public static final int DRIVE_CRUISE_VELOCITY_HIGH = 20000; public static final int DRIVE_ACCELERATION_HIGH = 7000; - public static final Gains DRIVE_VELOCITY_GAINS_BACK = new Gains(0.0, 0.0, 0.0, 0.0518, 0, 1.0); + public static final Gains DRIVE_VELOCITY_GAINS_BACK = new Gains(0.16, 0.0, 0.0, 0.058, 0, 1.0); /* Trajectory Constants */ public static final double MAX_SPEED_METERS_PER_SECOND = 1.0;