Update kSpeedAt12VoltsMps

CrossTheRoadElec · May 29, 2024 · 6596a61 · 6596a61
1 parent 23b352e
commit 6596a61
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/java/SwerveWithPathPlanner/src/main/java/frc/robot/generated/TunerConstants.java b/java/SwerveWithPathPlanner/src/main/java/frc/robot/generated/TunerConstants.java
@@ -22,7 +22,7 @@ public class TunerConstants {
     // The steer motor uses any SwerveModule.SteerRequestType control request with the
     // output type specified by SwerveModuleConstants.SteerMotorClosedLoopOutput
     private static final Slot0Configs steerGains = new Slot0Configs()
-        .withKP(100).withKI(0).withKD(0.05)
+        .withKP(100).withKI(0).withKD(0.2)
         .withKS(0).withKV(1.5).withKA(0);
     // When using closed-loop control, the drive motor uses the control
     // output type specified by SwerveModuleConstants.DriveMotorClosedLoopOutput
@@ -58,7 +58,7 @@ public class TunerConstants {
 
     // Theoretical free speed (m/s) at 12v applied output;
     // This needs to be tuned to your individual robot
-    public static final double kSpeedAt12VoltsMps = 5.0;
+    public static final double kSpeedAt12VoltsMps = 4.70;
 
     // Every 1 rotation of the azimuth results in kCoupleRatio drive motor turns;
     // This may need to be tuned to your individual robot