Very small updates

chopshop-166 · Jan 3, 2024 · 9a59f5c · 9a59f5c
1 parent fc360c5
commit 9a59f5c
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Showing 3 changed files with 1 addition and 29 deletions.
diff --git a/src/main/deploy/pathplanner/autos/New Auto.auto b/src/main/deploy/pathplanner/autos/New Auto.auto
diff --git a/src/main/java/frc/robot/maps/subsystems/SwerveDriveMap.java b/src/main/java/frc/robot/maps/subsystems/SwerveDriveMap.java
@@ -71,7 +71,6 @@ public class SwerveModuleData {
             public double[] steeringTempC;
             public SwerveModuleState desiredState = new SwerveModuleState();
             public double steeringSetpoint;
-            public ChassisSpeeds speeds;
 
             public SwerveModuleData(String name) {
                 this.name = name;
@@ -96,7 +95,6 @@ public void toLog(LogTable table) {
                 subTable.put("SteeringTempCelsius", this.steeringTempC);
 
                 subTable.put("SteeringSetpoint", this.steeringSetpoint);
-                // subTable.put("ChassisSpeeds", this.speeds);
 
             }
 
@@ -118,7 +116,6 @@ public void fromLog(LogTable table) {
                 this.steeringCurrentAmps = subTable.get("SteeringCurrentAmps", this.steeringCurrentAmps);
                 this.steeringTempC = subTable.get("SteeringTempCelsius", this.steeringTempC);
                 this.steeringSetpoint = subTable.get("SteeringSetpoint", this.steeringSetpoint);
-                // this.speeds = subTable.get("ChassisSpeeds", this.speeds);
             }
 
             public void update(SwerveModule module) {
@@ -131,7 +128,6 @@ public void update(SwerveModule module) {
                 this.steeringTempC = module.getSteeringMotor().getTemperatureC();
                 module.setDesiredState(this.desiredState);
                 this.steeringSetpoint = module.getSteeringMotor().get();
-                // this.speeds = module.ChassisSpeeds.get();
             }
 
             public SwerveModuleState getModuleStates() {

diff --git a/src/main/java/frc/robot/subsystems/Drive.java b/src/main/java/frc/robot/subsystems/Drive.java
@@ -135,7 +135,7 @@ public Drive(SwerveDriveMap map) {
                                                  // Constants class
                         new PIDConstants(0.2, 0.0, 0.05), // Translation PID constants (OFF_AXIS)
                         new PIDConstants(0.001, 0.0, 0.0), // Rotation PID constants (OFF_AXIS)
-                        4.5, // Max module speed, in m/s
+                        2.0, // Max module speed, in m/s
                         0.381, // Drive base radius (OFF_AXIS) in meters. Distance from robot center to
                                // furthest module.
                         new ReplanningConfig() // Default path replanning config. See the API for the options here