Merge branch 'master' into feature/more-auto-stuff-yipee

Author: zoe99999999

src/main/deploy/pathplanner/settings.json

@@ -23,7 +23,7 @@
   "robotTrackwidth": 0.546,
   "driveWheelRadius": 0.051,
   "driveGearing": 7.733,
-  "maxDriveSpeed": 4.5,
+  "maxDriveSpeed": 4.25,
   "driveMotorType": "vortex",
   "driveCurrentLimit": 45.0,
   "wheelCOF": 1.01,

src/main/java/frc/robot/constants/RobotConstants.java

@@ -141,7 +141,7 @@ public static class DriveConstants {
     public static final double driveGearRatio = 116.0 / 15.0;
     public static final double steerGearRatio = ((480.0 / 11.0)) * 1.0166667 * 0.99790377777778;
 
-    public static final double maxSpeed = 4.5;
+    public static final double maxSpeed = 4.25;
     public static final double maxNorm =
         DriveSubsystem.computeMaxNorm(DriveConstants.positions, new Translation2d());
     public static final double maxOmega = (maxSpeed / maxNorm);
@@ -402,7 +402,7 @@ public static class GantryConstants {
     public static final double pulleyRadius =
         Units.inchesToMeters(0.5) * 1.13278894472 * 0.60103626943 * 1.58904109589 * 1.03571428571;
     // left -> right limit
-    public static final Limits gantryLimits = new Limits(0.01, 0.36 + Units.inchesToMeters(1));
+    public static final Limits gantryLimits = new Limits(0.01, 0.36 + Units.inchesToMeters(4));
     public static final double gantryLimitCenter = 0.223; // 0.198
     public static final double gantryPadding = 0.02;
     public static final int gantryLimitSwitchDIOPort = new RobotSwitch<Integer>(4).get();

src/main/java/frc/robot/constants/RobotPIDConstants.java

@@ -91,7 +91,8 @@ public static final MAXMotionConfig constructMaxMotionPos(PIDConstants constant)
   }
 
   public static final PIDConstants drivePID = new PIDConstants(0.17189, 0.0, 0);
-  public static final FeedForwardConstants driveFF = new FeedForwardConstants(0.12506, 2, 0.27879);
+  public static final FeedForwardConstants driveFF =
+      new FeedForwardConstants(0.12506, 2.3, 0.27879);
 
   public static final PIDConstants steerPID = new PIDConstants(0.725, 0.0, 0.005);
 
@@ -125,7 +126,7 @@ public static final MAXMotionConfig constructMaxMotionPos(PIDConstants constant)
 
   public static final PIDConstants driveAntiTip = new PIDConstants(1, 0, 0);
 
-  public static final PIDConstants localTagAlign = new PIDConstants(0.8, 0.000, 0.0005);
+  public static final PIDConstants localTagAlign = new PIDConstants(0.9, 0.000, 0.0005);
   public static final PIDConstants localTagAlignVelocity = new PIDConstants(0.25, 0, 0);
   // public static final PIDConstants localTagAlignY = new PIDConstants(0.25, 0, 0);
   public static final PIDConstants localAnglePid = new PIDConstants(0.5, 0.001, 0.001);

src/main/java/frc/robot/subsystems/gantry/commands/GantryCommandFactory.java

@@ -122,7 +122,7 @@ public double getSetpoint(Supplier<CoralPreset> coralPreset) {
     }
     return coralPreset.get().getGantrySetpoint(true) == GantrySetpoint.RIGHT
         ? GantryConstants.gantryLimits.low + GantryConstants.gantryPadding
-        : GantryConstants.gantryLimits.high - GantryConstants.gantryPadding;
+        : 0.392;
   }
 
   public double getSetpointOdometry(