epic speed increase

Author: davidchen20

src/main/deploy/pathplanner/paths/$apb1c(12)!score b1 c1.path

@@ -33,12 +33,12 @@
   "eventMarkers": [],
   "globalConstraints": {
     "maxVelocity": 4.0,
-    "maxAcceleration": 3.5,
+    "maxAcceleration": 3.75,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0
   },
   "goalEndState": {
-    "velocity": 3.0,
+    "velocity": 3.2,
     "rotation": 0,
     "rotateFast": false
   },

src/main/deploy/pathplanner/paths/get the note.path

@@ -38,13 +38,13 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 1.0,
-    "maxAcceleration": 1.5,
+    "maxVelocity": 1.5,
+    "maxAcceleration": 2.1,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0
   },
   "goalEndState": {
-    "velocity": 1.5,
+    "velocity": 2.0,
     "rotation": 0,
     "rotateFast": true
   },

src/main/java/frc/robot/BuildConstants.java

@@ -5,12 +5,12 @@ public final class BuildConstants {
   public static final String MAVEN_GROUP = "";
   public static final String MAVEN_NAME = "2024RobotCode";
   public static final String VERSION = "unspecified";
-  public static final int GIT_REVISION = 351;
-  public static final String GIT_SHA = "7674857210fa4b588e1b24bd87aff4ff0b492160";
-  public static final String GIT_DATE = "2024-09-08 09:58:56 EDT";
+  public static final int GIT_REVISION = 352;
+  public static final String GIT_SHA = "ea8da7366576569467cfc6aef5ac6051f7bc9530";
+  public static final String GIT_DATE = "2024-09-08 16:03:17 EDT";
   public static final String GIT_BRANCH = "pre-goonettes";
-  public static final String BUILD_DATE = "2024-09-08 14:15:58 EDT";
-  public static final long BUILD_UNIX_TIME = 1725819358226L;
+  public static final String BUILD_DATE = "2024-09-08 16:11:08 EDT";
+  public static final long BUILD_UNIX_TIME = 1725826268973L;
   public static final int DIRTY = 1;
 
   private BuildConstants() {}

src/main/java/frc/robot/commands/AlignToNoteAuto.java

@@ -55,7 +55,7 @@ public void initialize() {
 
     generatedPathCommand =
         AutoBuilder.followPath(
-            drive.generateTrajectoryToNote(targetNoteLocation, 3, 2.45, 100, 180, 0.5));
+            drive.generateTrajectoryToNote(targetNoteLocation, 3.5, 2.7, 100, 180, 0.5));
 
     generatedPathCommand.initialize();
   }

src/main/java/frc/robot/subsystems/drive/Drive.java

@@ -938,7 +938,7 @@ public Command alignToNote(LED led) {
             new PathPlannerPath(
                 pointsToNote,
                 new PathConstraints(
-                    2, 2.26, Units.degreesToRadians(100), Units.degreesToRadians(180)),
+                    3, 2.26, Units.degreesToRadians(100), Units.degreesToRadians(180)),
                 new GoalEndState(0.5, targetRotation, true));
         Logger.recordOutput("source snap target", targetRotation.getDegrees());
         path.preventFlipping = true;