lowering speed of spin

FRC1466 · Jan 11, 2024 · 267240f · 267240f
1 parent ea9a765
commit 267240f
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/src/main/java/frc/robot/commands/swervedrive/drivebase/TeleopDrive.java b/src/main/java/frc/robot/commands/swervedrive/drivebase/TeleopDrive.java
@@ -67,7 +67,7 @@ public void initialize() {}
   public void execute() {
     double xVelocity = Math.pow(vX.getAsDouble(), 3) * controller.config.maxSpeed;
     double yVelocity = Math.pow(vY.getAsDouble(), 3) * controller.config.maxSpeed;
-    double angVelocity = Math.pow(omega.getAsDouble(), 2) * controller.config.maxAngularVelocity;
+    double angVelocity = Math.pow(omega.getAsDouble(), 3) * controller.config.maxAngularVelocity*.75;
     SmartDashboard.putNumber("vX", xVelocity);
     SmartDashboard.putNumber("vY", yVelocity);
     SmartDashboard.putNumber("omega", angVelocity);