Update Differential.java

ZodiacEFZ · Feb 28, 2025 · ec384f4 · ec384f4
1 parent 774e049
commit ec384f4
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/drivetrain/Differential.java b/drivetrain/Differential.java
@@ -367,7 +367,7 @@ private double calculateRotation(Rotation2dSupplier headingSupplier) {
      * @param rotation Angular velocity in [-1, 1].
      */
     public ChassisSpeeds getChassisSpeeds(double velocity, double rotation) {
-        return new ChassisSpeeds(velocity * (this.slowMode ? this.MAX_SPEED / 5 : this.MAX_SPEED), 0, rotation * (this.slowMode ? this.MAX_ANGULAR_VELOCITY / 3 : this.MAX_ANGULAR_VELOCITY));
+        return new ChassisSpeeds(velocity * (this.slowMode ? this.MAX_SPEED / 2 : this.MAX_SPEED), 0, rotation * (this.slowMode ? this.MAX_ANGULAR_VELOCITY / 1.5 : this.MAX_ANGULAR_VELOCITY));
     }
 
     @Override