From 07cc6410819339bd133248961a307a9d22013821 Mon Sep 17 00:00:00 2001
From: Voxel <jamesgormleyrechs@gmail.com>
Date: Mon, 30 Dec 2024 20:31:31 -0500
Subject: [PATCH] Auto value updates

---
 src/main/deploy/choreo/autos.chor                    | 12 ++++++------
 src/main/deploy/pathplanner/settings.json            |  4 ++--
 .../java/frc/robot/constants/TunerConstants.java     |  4 ++--
 3 files changed, 10 insertions(+), 10 deletions(-)

diff --git a/src/main/deploy/choreo/autos.chor b/src/main/deploy/choreo/autos.chor
index 8d2e4f39..c0526811 100644
--- a/src/main/deploy/choreo/autos.chor
+++ b/src/main/deploy/choreo/autos.chor
@@ -40,16 +40,16 @@
    "val":6.75
   },
   "radius":{
-   "exp":"2 in",
-   "val":0.0508
+   "exp":"1.9079 in",
+   "val":0.04846066
   },
   "vmax":{
-   "exp":"485.89966375522135 rad / s",
-   "val":485.8996637552213
+   "exp":"502.65482457436696 rad / s",
+   "val":502.65482457436696
   },
   "tmax":{
-   "exp":"1.163975155279503 N m",
-   "val":1.163975155279503
+   "exp":"0.7554918032786885 N m",
+   "val":0.7554918032786885
   },
   "bumper":{
    "front":{
diff --git a/src/main/deploy/pathplanner/settings.json b/src/main/deploy/pathplanner/settings.json
index be6811d0..2bc3d412 100644
--- a/src/main/deploy/pathplanner/settings.json
+++ b/src/main/deploy/pathplanner/settings.json
@@ -12,11 +12,11 @@
   "robotMass": 40.823,
   "robotMOI": 6.2,
   "robotTrackwidth": 0.508,
-  "driveWheelRadius": 0.051,
+  "driveWheelRadius": 0.0485,
   "driveGearing": 6.746031746031747,
   "maxDriveSpeed": 4.73,
   "driveMotorType": "krakenX60FOC",
-  "driveCurrentLimit": 39.0,
+  "driveCurrentLimit": 37.0,
   "wheelCOF": 1.0,
   "flModuleX": 0.298,
   "flModuleY": 0.298,
diff --git a/src/main/java/frc/robot/constants/TunerConstants.java b/src/main/java/frc/robot/constants/TunerConstants.java
index ea5cf9d5..de8842d2 100644
--- a/src/main/java/frc/robot/constants/TunerConstants.java
+++ b/src/main/java/frc/robot/constants/TunerConstants.java
@@ -51,7 +51,7 @@ public class TunerConstants {
 
     // The stator current at which the wheels start to slip;
     // This needs to be tuned to your individual robot
-    private static final Current kSlipCurrent = Amps.of(60.0);
+    private static final Current kSlipCurrent = Amps.of(37.0);
 
     // Initial configs for the drive and steer motors and the CANcoder; these cannot be null.
     // Some configs will be overwritten; check the `with*InitialConfigs()` API documentation.
@@ -64,7 +64,7 @@ public class TunerConstants {
                                     // set a relatively low
                                     // stator current limit to help avoid brownouts without
                                     // impacting performance.
-                                    .withStatorCurrentLimit(Amps.of(39)) // 60
+                                    .withStatorCurrentLimit(Amps.of(60)) // 60
                                     .withStatorCurrentLimitEnable(true));
     private static final CANcoderConfiguration cancoderInitialConfigs = new CANcoderConfiguration();
     // Configs for the Pigeon 2; leave this null to skip applying Pigeon 2 configs