Update paths and Sertain version

build.gradle

@@ -11,7 +11,7 @@ plugins {
 }
 
 ext.kotlinVersion = "1.2.50"
-ext.sertainVersion = "1.2.0"
+ext.sertainVersion = "1.2.1"
 ext.ktlintVersion = "0.19.0"
 ext.gsonVersion = "2.8.5"
 

src/main/java/org/sert2521/powerup/autonomous/Paths.kt

@@ -169,16 +169,16 @@ abstract class PathBase : PathInitializer(), RobotLifecycle {
 object LeftToLeftSwitchPath : PathBase() {
     override var points = arrayOf(
             0.0 with 3.0 angle 0.0,
-            1.3 with 3.1 angle 0.0,
-            2.0 with 1.65 angle 90.0
+            2.2 with 3.1 angle 0.0,
+            3.4 with 1.8 angle 90.0
     )
 }
 
 object RightToRightSwitchPath : PathBase() {
     override var points = arrayOf(
             0.0 with -3.0 angle 0.0,
             1.3 with -3.2 angle 0.0,
-            2.9 with -1.9 angle -90.0
+            3.7 with -1.7 angle -90.0
     )
 }
 
@@ -242,7 +242,7 @@ object LeftToLeftScalePath : PathBase() {
     override var points = arrayOf(
             0.0 with 3.0 angle 0.0,
             4.2 with 3.0 angle 0.0,
-            6.5 with 2.0 angle -30.0
+            6.75 with 2.0 angle -30.0
     )
 }
 
@@ -279,8 +279,8 @@ object RightToLeftScalePath : PathBase() {
 object LeftSwitchToRearPath : PathBase() {
     override var points = arrayOf(
             4.0 with -2.0 angle -90.0,
-            3.0 with -2.7 angle 0.0,
-            2.3 with -1.7 angle 180.0
+            3.3 with -2.3 angle 0.0,
+            2.7 with -1.3 angle 180.0
     )
 }
 

src/main/java/org/sert2521/powerup/util/Constants.kt

@@ -38,7 +38,7 @@ const val BLUE_LED_PORT = 7
 const val ENCODER_TICKS_PER_REVOLUTION = 8192
 const val WHEEL_DIAMETER = 0.15
 const val WHEELBASE_WIDTH = 0.7
-const val MAX_VELOCITY = 0.6
+const val MAX_VELOCITY = 1.0
 const val MAX_ACCELERATION = 0.1
 const val MAX_JERK = 60.0