Merge pull request #29 from mjansen4857/main

Minor SwerveWithPathPlanner example improvements
CrossTheRoadElec · Jan 2, 2024 · ef4759f · ef4759f
2 parents a2f4299 + af944e2
commit ef4759f
Showing 1 changed file with 3 additions and 4 deletions.
diff --git a/java/SwerveWithPathPlanner/src/main/java/frc/robot/CommandSwerveDrivetrain.java b/java/SwerveWithPathPlanner/src/main/java/frc/robot/CommandSwerveDrivetrain.java
@@ -53,10 +53,9 @@ private void configurePathPlanner() {
             (speeds)->this.setControl(autoRequest.withSpeeds(speeds)), // Consumer of ChassisSpeeds to drive the robot
             new HolonomicPathFollowerConfig(new PIDConstants(10, 0, 0),
                                             new PIDConstants(10, 0, 0),
-                                            1,
-                                            1,
-                                            new ReplanningConfig(),
-                                            0.004),
+                                            1, // TODO: Max module speed. Adjust this for your specific robot
+                                            1, // TODO: Distance from center of robot to furthest module. Adjust this for your specific robot
+                                            new ReplanningConfig()),
             this); // Subsystem for requirements
     }