Tune PID

lasarobotics · Oct 22, 2024 · 1e60139 · 1e60139
1 parent 63f6966
commit 1e60139
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/src/main/java/org/lasarobotics/drive/MAXSwerveModule.java b/src/main/java/org/lasarobotics/drive/MAXSwerveModule.java
@@ -112,8 +112,8 @@ private GearRatio(double value) {
   private final int COSINE_CORRECTION;
 
   // Swerve velocity PID settings
-  private static final double DRIVE_VELOCITY_kP = 0.6;
-  private static final double DRIVE_VELOCITY_kD = 0.003;
+  private static final double DRIVE_VELOCITY_kP = 0.4;
+  private static final double DRIVE_VELOCITY_kD = 0.002;
   private static final double DRIVE_VELOCITY_kS = 0.2;
   private static final double DRIVE_VELOCITY_kA = 0.5;
   private static final double DRIVE_VELOCITY_TOLERANCE = 0.01;