From bcb929a10cb93c7e1e21a1b0eea02a505dd021fb Mon Sep 17 00:00:00 2001
From: 5690 <5690Programmers@gmail.com>
Date: Mon, 11 Nov 2024 17:29:44 -0600
Subject: [PATCH] Update max speed

---
 common                                      | 2 +-
 src/main/include/constants/ArmConstants.h   | 2 +-
 src/main/include/constants/DriveConstants.h | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/common b/common
index d08352f..4c7c4c0 160000
--- a/common
+++ b/common
@@ -1 +1 @@
-Subproject commit d08352f59d4b3955bb0fce94a173ad9c2a210db3
+Subproject commit 4c7c4c093292704d97a775358a5cbbccb991c06a
diff --git a/src/main/include/constants/ArmConstants.h b/src/main/include/constants/ArmConstants.h
index 12a6c14..8770e52 100644
--- a/src/main/include/constants/ArmConstants.h
+++ b/src/main/include/constants/ArmConstants.h
@@ -17,7 +17,7 @@ constexpr double kRotationHomingSpeed = .15;
 constexpr int kArmGearRatio = 125;
 constexpr units::degree_t kArmRelativeDistancePerRev = 360_deg * (1 / 8.75);
 constexpr units::degree_t kArmAbsoluteDistancePerRev = 360_deg;
-constexpr units::degree_t kAmpRotation = 142_deg;
+constexpr units::degree_t kAmpRotation = 132_deg;
 constexpr units::degree_t kMaxRotation = 190_deg;
 constexpr units::degree_t kHomeRotation = 10_deg;
 constexpr units::degrees_per_second_t kDefaultVelocity = 10_deg_per_s;
diff --git a/src/main/include/constants/DriveConstants.h b/src/main/include/constants/DriveConstants.h
index 96a874e..1a8f47d 100644
--- a/src/main/include/constants/DriveConstants.h
+++ b/src/main/include/constants/DriveConstants.h
@@ -9,7 +9,7 @@
 namespace DriveConstants {
 // Driving Parameters - Note that these are not the maximum capable speeds of
 // the robot, rather the allowed maximum speeds
-constexpr units::meters_per_second_t kMaxSpeed = 3.9_mps;
+constexpr units::meters_per_second_t kMaxSpeed = 4.8_mps;
 constexpr units::radians_per_second_t kMaxAngularSpeed{2 * std::numbers::pi};
 
 constexpr double kDirectionSlewRate = 1.2;   // radians per second