Merge pull request #89 from frc937/speed-limit

Swerve speed limit
frc937 · Feb 29, 2024 · 0c89a9f · 0c89a9f
2 parents c859e82 + 8b933d2
commit 0c89a9f
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Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -79,10 +79,10 @@ public static class Drive {
     public static Translation2d EMPTY_TRANSLATION = new Translation2d();
 
     /** The max speed the robot can go in m/s */
-    public static double MAX_SPEED = 1;
+    public static double MAX_SPEED = 2;
 
     /** The max speed the robot can rotate */
-    public static double MAX_ANGULAR_SPEED = Math.PI / 2;
+    public static double MAX_ANGULAR_SPEED = Math.PI;
 
     /** The distance from the center of the robot to any of the swerve modules. */
     public static double DISTANCE_ROBOT_CENTER_TO_SWERVE_MODULE = 0.3;

diff --git a/src/main/java/frc/robot/subsystems/Drive.java b/src/main/java/frc/robot/subsystems/Drive.java
@@ -116,7 +116,7 @@ public void enterXMode() {
    * @return Maximum speed the robot chassis can acheive in m/s.
    */
   public double getMaximumSpeed() {
-    return drive.getMaximumVelocity();
+    return Math.min(drive.getMaximumVelocity(), Constants.Drive.MAX_SPEED);
   }
 
   /**
@@ -125,7 +125,7 @@ public double getMaximumSpeed() {
    * @return Maximum angular speed the robot chassis can acheive in rad/s.
    */
   public double getMaximumAngularSpeed() {
-    return drive.getMaximumAngularVelocity();
+    return Math.min(drive.getMaximumAngularVelocity(), Constants.Drive.MAX_ANGULAR_SPEED);
   }
 
   /**