From 60fec03f149427454791c64a16a91b5b5dfb7fe4 Mon Sep 17 00:00:00 2001
From: Maciej Wiczynski <loafjunk@loafdog.org>
Date: Thu, 28 Mar 2024 07:57:45 -0400
Subject: [PATCH] Adjust arm trapezoid profile constraints based on testing

---
 src/main/java/frc/robot/config/RobotConfigInferno.java | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/main/java/frc/robot/config/RobotConfigInferno.java b/src/main/java/frc/robot/config/RobotConfigInferno.java
index 2114da10..69fd771d 100644
--- a/src/main/java/frc/robot/config/RobotConfigInferno.java
+++ b/src/main/java/frc/robot/config/RobotConfigInferno.java
@@ -87,8 +87,8 @@ public RobotConfigInferno() {
     ArmConstants.ffKv = 6.18;
     ArmConstants.ffKa = 0.04;
 
-    ArmConstants.maxVelocityInDegreesPerSecond = 45;
-    ArmConstants.maxAccelerationInDegreesPerSecondSquared = 120;
+    ArmConstants.maxVelocityInDegreesPerSecond = 90;
+    ArmConstants.maxAccelerationInDegreesPerSecondSquared = 240;
 
     ArmConstants.pidMaxOutput = 6.0;
     ArmConstants.pidMinOutput = -5.0;