From d8f15ccdb0b26f150faf350ceb7e88073dc7e89f Mon Sep 17 00:00:00 2001
From: Aarav Shah <aaravshah18@gmail.com>
Date: Sat, 29 Feb 2020 16:01:39 -0700
Subject: [PATCH] Tuned Motion Magic Gains pretty well

---
 src/main/java/frc4388/robot/Constants.java      | 6 +++---
 src/main/java/frc4388/robot/RobotContainer.java | 6 +++---
 2 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java
index fd1e83d..1f4cf3a 100644
--- a/src/main/java/frc4388/robot/Constants.java
+++ b/src/main/java/frc4388/robot/Constants.java
@@ -54,9 +54,9 @@ public final class Constants {
         public static final Gains DRIVE_DISTANCE_GAINS_LOW = new Gains(0.1, 0.0, 1.0, 0.0, 0, 0.5);
         public static final Gains DRIVE_VELOCITY_GAINS_LOW = new Gains(0.1, 0.0, 0.2, 0.025, 0, 1.0);
         public static final Gains DRIVE_TURNING_GAINS_LOW = new Gains(0.5, 0.0, 0.0, 0.0, 0, 0.55);
-        public static final Gains DRIVE_MOTION_MAGIC_GAINS_LOW = new Gains(0.1, 0.0, 0.2, 0.05, 0, 1.0);
-        public static final int DRIVE_CRUISE_VELOCITY = 25000;
-        public static final int DRIVE_ACCELERATION = 21000;
+        public static final Gains DRIVE_MOTION_MAGIC_GAINS_LOW = new Gains(0.1, 0.0, 0, 0.025, 0, 1.0);
+        public static final int DRIVE_CRUISE_VELOCITY = 30000;
+        public static final int DRIVE_ACCELERATION = 23000;
 
         public static final Gains DRIVE_DISTANCE_GAINS_HIGH = new Gains(0.0, 0.0, 0.0, 0.0, 0, 0.5);
         public static final Gains DRIVE_VELOCITY_GAINS_HIGH = new Gains(0.0, 0.0, 0.0, 0.0, 0, 1.0);
diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index bdae26e..4bd17d4 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -119,7 +119,7 @@ public class RobotContainer {
         /* Test Buttons */
         // A driver test button
         new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON)
-            .whenPressed(new DriveStraightToPositionMM(m_robotDrive, 24));
+            .whenPressed(new DriveStraightToPositionMM(m_robotDrive, 12));
         
         // B driver test button
         new JoystickButton(getDriverJoystick(), XboxController.B_BUTTON)
@@ -191,8 +191,8 @@ public class RobotContainer {
         RamseteCommand ramseteCommand = getRamseteCommand(trajectory);
         // Run path following command, then stop at the end.
         //return ramseteCommand.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
-        //return new AutoPath1FromCenter(m_robotDrive);
-        return new AutoPath2FromRight(m_robotDrive);
+        return new AutoPath1FromCenter(m_robotDrive);
+        //return new AutoPath2FromRight(m_robotDrive);
 
     }
     TrajectoryConfig getTrajectoryConfig() {