change twist computation

team581 · Nov 8, 2023 · 78189ef · 78189ef
1 parent 2273667
commit 78189ef
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/src/main/java/frc/robot/swerve/SwerveSubsystem.java b/src/main/java/frc/robot/swerve/SwerveSubsystem.java
@@ -206,7 +206,7 @@ public void setChassisSpeeds(ChassisSpeeds speeds, boolean openLoop) {
     Logger.getInstance().recordOutput("Swerve/CommandedSpeeds/Omega", speeds.omegaRadiansPerSecond);
 
     // Twist computation.
-    double lookAheadSeconds = 0.1;
+    double lookAheadSeconds = 0.02;
     Pose2d target_pose =
         new Pose2d(
             lookAheadSeconds * speeds.vxMetersPerSecond,