change in constants for more realistic simulations.

Author: jhhbrown1

src/main/java/frc/robot/Constants.java

@@ -57,8 +57,10 @@ public static final class DriveConstants {
 		public static final double kI = 0.0;
 		public static final double kD = 0;
 		public static final double kS = 0;
-		public static final double kV = 0.11;
-		public static final double kA = 0.009;
+		// public static final double kV = 0.11;
+		// public static final double kA = 0.009;
+		public static final double kV = 0.11 * 1 / 5;
+		public static final double kA = 0.0001;
 
 		public static final double kTeleopMaxVoltage = 12;
 		public static final double kTeleopMaxTurnVoltage = 7.2;

src/main/java/frc/robot/SwerveModule.java

@@ -57,7 +57,7 @@ public SwerveModule(int canId, int drivePort, int steerPort) {
 					LinearSystemId.createDCMotorSystem(kV / (2 * Math.PI), kA / (2 * Math.PI)),
 					DCMotor.getKrakenX60(1).withReduction(kGearRatio));
 			m_steerMotorModel = new DCMotorSim(
-					LinearSystemId.createDCMotorSystem(kV / (2 * Math.PI), 0.0001 / (2 * Math.PI)),
+					LinearSystemId.createDCMotorSystem(kV / (2 * Math.PI), kA / (2 * Math.PI)),
 					DCMotor.getKrakenX60(1));
 		} else {
 			m_driveMotorModel = null;

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

@@ -292,8 +292,8 @@ public void setModuleAngles(double angle) {
 	 * @return a {@code Command} for testing this {@code DriveSubsystem}
 	 */
 	public Command testCommand() {
-		double speed = .8;
-		double rotionalSpeed = Math.toRadians(40);
+		double speed = .5;
+		double rotionalSpeed = Math.toRadians(45);
 		double duration = 2.0;
 		return run(() -> setModuleAngles(0)).withTimeout(1)
 				.andThen(run(() -> drive(speed, 0, 0, false)).withTimeout(duration))