Update at 'Sat Jun 07 11:28:01 EDT 2025'

Author: Dh-Van

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

@@ -314,7 +314,7 @@ private void configureBindings() {
         // auto align right
         // positive moves right for second param of translation
         joystick.b().whileTrue(Commands.parallel(
-                        new DriveToPose(drivetrain, new Transform2d(Units.inchesToMeters(-33.5/2-1.5), Units.inchesToMeters(0.5+2.25+.25), Rotation2d.fromDegrees(-5)), joystick, 8), 
+                        new DriveToPose(drivetrain, new Transform2d(Units.inchesToMeters(-33.5/2-1.5), Units.inchesToMeters(0.5+2.25+.25), Rotation2d.fromDegrees(0)), joystick, 8), 
                         s_Shooter.shoot()
                 ))
                 .onFalse(new InstantCommand(()->joystick.setRumble(RumbleType.kBothRumble, 0))

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

@@ -95,7 +95,7 @@ public class TunerConstants {
 
     // Theoretical free speed (m/s) at 12 V applied output;
     // This needs to be tuned to your individual robot
-    public static final LinearVelocity kSpeedAt12Volts = MetersPerSecond.of(3.7); //∞
+    public static final LinearVelocity kSpeedAt12Volts = MetersPerSecond.of(5.21); //∞
     public static final LinearVelocity kSlowSpeed = MetersPerSecond.of(3);
 
     // Every 1 rotation of the azimuth results in kCoupleRatio drive motor turns;