merge w/ main and stuff

blair-robot-project · Mar 4, 2025 · 6386fa8 · 6386fa8
1 parent abdf468
commit 6386fa8
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Showing 3 changed files with 4 additions and 4 deletions.
diff --git a/src/main/deploy/pathplanner/settings.json b/src/main/deploy/pathplanner/settings.json
@@ -1,6 +1,6 @@
 {
-  "robotWidth": 0.8255,
-  "robotLength": 0.8255,
+  "robotWidth": 1.2,
+  "robotLength": 1.2,
   "holonomicMode": true,
   "pathFolders": [],
   "autoFolders": [],

diff --git a/src/main/kotlin/frc/team449/commands/autoscoreCommands/AutoScorePathfinder.kt b/src/main/kotlin/frc/team449/commands/autoscoreCommands/AutoScorePathfinder.kt
@@ -61,7 +61,7 @@ class AutoScorePathfinder(val robot: Robot, private val endPose: Pose2d) {
   private var yPIDSpeed = 0.0
   private val pidOffsetTime = 0.15
 
-  private var thetaController: PIDController = PIDController(10.0, 3.0, 0.1)
+  private var thetaController: PIDController = PIDController(6.5, 0.8592, 0.0)
   private var xController = PIDController(7.0, 2.0, 0.0)
   private var yController = PIDController(7.0, 2.0, 0.0)
   var distance: Double

diff --git a/src/main/kotlin/frc/team449/subsystems/vision/PoseSubsystem.kt b/src/main/kotlin/frc/team449/subsystems/vision/PoseSubsystem.kt
@@ -83,7 +83,7 @@ class PoseSubsystem(
   private var magDec = 0.0004
   private val maxMagPower = 20.0
   private var lastDistance = 0.0
-  private val agreeVal = 0.15
+  private val agreeVal = 0.3
   private val autoDistance = 0.3544921069702
   lateinit var autoscoreCurrentCommand: Command