From af944e29502305ccd29d349c08a96d1b6fca8e63 Mon Sep 17 00:00:00 2001 From: Michael Jansen Date: Tue, 2 Jan 2024 14:13:17 -0500 Subject: [PATCH] Improve SwerveWithPathPlanner example --- .../src/main/java/frc/robot/CommandSwerveDrivetrain.java | 7 +++---- 1 file changed, 3 insertions(+), 4 deletions(-) diff --git a/java/SwerveWithPathPlanner/src/main/java/frc/robot/CommandSwerveDrivetrain.java b/java/SwerveWithPathPlanner/src/main/java/frc/robot/CommandSwerveDrivetrain.java index 4724599..286a8c1 100644 --- 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 }