Fix translation PID

team581 · Nov 9, 2023 · 1c7390f · 1c7390f
1 parent 8ce7ff9
commit 1c7390f
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Showing 2 changed files with 12 additions and 16 deletions.
diff --git a/src/main/deploy/pathplanner/test.path b/src/main/deploy/pathplanner/test.path
@@ -2,48 +2,44 @@
   "waypoints": [
     {
       "anchorPoint": {
-        "x": 14.677480412653132,
-        "y": 5.048699712784042
+        "x": 9.590241007405092,
+        "y": 5.231763251988043
       },
       "prevControl": null,
       "nextControl": {
-        "x": 13.261146714601123,
-        "y": 5.029429866552041
+        "x": 8.173907309353083,
+        "y": 5.212493405756042
       },
       "holonomicAngle": 180.0,
       "isReversal": false,
       "velOverride": null,
       "isLocked": false,
       "isStopPoint": false,
       "stopEvent": {
-        "names": [
-          "preloadCone",
-          "scoreHigh",
-          "stowFast"
-        ],
+        "names": [],
         "executionBehavior": "sequential",
         "waitBehavior": "none",
         "waitTime": 0
       }
     },
     {
       "anchorPoint": {
-        "x": 10.206876086829098,
-        "y": 4.615128172564038
+        "x": 6.468525917821069,
+        "y": 5.116144174596042
       },
       "prevControl": {
-        "x": 11.343797014517108,
-        "y": 4.586223403216038
+        "x": 7.66325638420508,
+        "y": 5.491906176120046
       },
       "nextControl": null,
-      "holonomicAngle": 90.0,
+      "holonomicAngle": -136.363927531603,
       "isReversal": false,
       "velOverride": null,
       "isLocked": false,
       "isStopPoint": false,
       "stopEvent": {
         "names": [],
-        "executionBehavior": "parallel",
+        "executionBehavior": "sequential",
         "waitBehavior": "none",
         "waitTime": 0
       }

diff --git a/src/main/java/frc/robot/config/Config.java b/src/main/java/frc/robot/config/Config.java
@@ -63,7 +63,7 @@ public class Config {
   public static final PIDConstants SWERVE_TRANSLATION_PID = new PIDConstants(2.5, 0, 0);
   public static final PIDConstants SWERVE_ROTATION_PID = new PIDConstants(2.5, 0, 0.1);
   public static final PIDConstants SWERVE_ROTATION_SNAP_PID = new PIDConstants(3, 0, 0);
-  public static final boolean SWERVE_TRANSLATION_PID_INVERT = false;
+  public static final boolean SWERVE_TRANSLATION_PID_INVERT = true;
   public static final boolean SWERVE_ROTATION_PID_INVERT = false;
   public static final boolean SWERVE_ROTATION_SNAP_PID_INVERT = true;