Drive PID tuning

Author: owen-beck

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

@@ -31,7 +31,7 @@ public class ArmConstants {
     public static final double ALGAE_HIGH_REEF_INTAKING_POSITION = ALGAE_LOW_REEF_INTAKING_POSITION;
 
     // Scoring positions
-    public static final double L1_SCORING_POSITION = 0.13;
+    public static final double L1_SCORING_POSITION = 0.11;
     public static final double L2_STAGING_POSITION = STOWED_POSITION;
     public static final double L2_SCORING_POSITION = 0.14;
     public static final double L3_STAGING_POSITION = L2_STAGING_POSITION;

src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java

@@ -80,7 +80,7 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
         .getStructTopic("Robot Pose", Pose2d.struct).publish();
 
     private PIDController translationalController = new PIDController(
-        5.5, 0, 0.25);
+        5.75, 0, 0.2);
         // 5.25, 0, 0.3); 
     private PIDController rotationalController = new PIDController(
         6.25, 0, 0.3);