retune db

Author: blaze-developer

src/main/deploy/pathplanner/paths/Odom Test.path

@@ -33,8 +33,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 1.0,
-    "maxAcceleration": 1.0,
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,

src/main/java/frc/robot/RobotContainer.java

@@ -422,8 +422,15 @@ public void setupAutos() {
 
         autoChooser_.addOption("Center Algae Barge (1 Coral, 1 Algae)", 
             AutoCommands.oneCoralOneAlgaeBargeAuto(brain_, drivebase_, manipulator_, grabber_));
+
+        AutoModeBaseCmd odometryTest = new AutoModeBaseCmd(
+            "Odom Test",
+            DriveCommands.findPath("Odom Test", false).orElseThrow()
+        );
+
+        odometryTest.addCommands(DriveCommands.initialFollowPathCommand(drivebase_, "Odom Test"));
 
-        autoChooser_.addOption("Odom Test (aka Kachow)", DriveCommands.initialFollowPathCommand(drivebase_, "Odom Test"));
+        autoChooser_.addOption("Odom Test (aka Kachow)", odometryTest);
     }
 
     private void subsystemCreateException(Exception ex) {

src/main/java/frc/robot/generated/CompTunerConstants.java

@@ -31,7 +31,7 @@ public class CompTunerConstants {
     // output type specified by SwerveModuleConstants.DriveMotorClosedLoopOutput
     private static final Slot0Configs driveGains = new Slot0Configs()
         .withKP(0.1).withKI(0).withKD(0)
-        .withKS(0.48504).withKV(0.94222);
+        .withKS(0.21326).withKV(0.84586);
 
     // The closed-loop output type to use for the steer motors;
     // This affects the PID/FF gains for the steer motors
@@ -82,7 +82,7 @@ public class CompTunerConstants {
 
     private static final double kDriveGearRatio = 6.746031746031747;
     private static final double kSteerGearRatio = 21.428571428571427;
-    private static final Distance kWheelRadius = Inches.of(1.757);
+    private static final Distance kWheelRadius = Inches.of(1.934);
 
     private static final boolean kInvertLeftSide = false;
     private static final boolean kInvertRightSide = true;