Recorder and replay op

FtcRobotController/src/main/AndroidManifest.xml

@@ -1,8 +1,8 @@
 <?xml version="1.0" encoding="utf-8"?>
 <manifest xmlns:android="http://schemas.android.com/apk/res/android"
           xmlns:tools="http://schemas.android.com/tools"
-    android:versionCode="60"
-          android:versionName="11.0">
+    android:versionCode="62"
+          android:versionName="11.2">
 
   <uses-permission android:name="android.permission.RECEIVE_BOOT_COMPLETED" />
 

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/autonomous/AutonomousConstants.java

@@ -65,8 +65,24 @@ public Coordinates(double x, double y, double heading) {
     public static Coordinates IntakeZoneBack11Blue = new Coordinates(5, -20, 1.5);
     public static Coordinates ParkBackBlue = new Coordinates(30, -50, 0);
 
+
+    /// Replay Correction
+    public static double kP_translation = 0.022;
+    public static double kD_translation = 0.013;
+    public static double kP_rotation    = 0.30;
+    public static double kD_rotation    = 0.08;
+
+    // Constraints
+    public static double BLEND_K                = 0.40;
+    public static double MIN_CORRECTION_CAP     = 0.20;
+    public static double MAX_CORRECTION_CAP     = 0.60;
+    public static double CORRECTION_ERROR_SCALE = 7.0;
+    public static double D_FILTER_ALPHA         = 0.25;
+
+
+
     public static Pose coordinates(Coordinates coord) {
         return new Pose(coord.x, coord.y, coord.heading);
     }
 
-}
+}