tuning

grt192 · Apr 6, 2024 · 024daf8 · 024daf8
1 parent 23b6fbb
commit 024daf8
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Showing 2 changed files with 7 additions and 7 deletions.
diff --git a/src/main/java/frc/robot/subsystems/shooter/ShooterPivotSubsystem.java b/src/main/java/frc/robot/subsystems/shooter/ShooterPivotSubsystem.java
@@ -110,12 +110,12 @@ public ShooterPivotSubsystem(DoubleSupplier distanceSupplier, BooleanSupplier re
                               6, 
                               ShooterConstants.MAX_SHOOTER_DISTANCE};
         double[] angles = {Units.degreesToRadians(60), 
-                           Units.degreesToRadians(51), 
-                           Units.degreesToRadians(35), 
-                           Units.degreesToRadians(29), //4
-                           Units.degreesToRadians(27.26),
-                           Units.degreesToRadians(26),
-                           Units.degreesToRadians(27.5)};
+                           Units.degreesToRadians(52), 
+                           Units.degreesToRadians(36), 
+                           Units.degreesToRadians(31), //4
+                           Units.degreesToRadians(28),
+                           Units.degreesToRadians(27),
+                           Units.degreesToRadians(28.5)};
 
         // X = distances, Y = angles in rads
         akima = new AkimaSplineInterpolator();

diff --git a/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java b/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java
@@ -80,7 +80,7 @@ public class SwerveSubsystem extends SubsystemBase {
     public static final double MAX_ALPHA = 8;
 
     public static final double ANGLE_OFFSET_FOR_AUTO_AIM = Units.degreesToRadians(0);
-    public static final double SHOT_SPEED = 10; // meters per sec
+    public static final double SHOT_SPEED = 30; // meters per sec
 
     private final SwerveModule frontLeftModule;
     private final SwerveModule frontRightModule;