From 54bc941191e40d54b87396b26a680ab6b173aac5 Mon Sep 17 00:00:00 2001
From: Team578 Driver Station <leadmentor@fairportrobotics.org>
Date: Fri, 17 Apr 2026 17:56:35 -0400
Subject: [PATCH] PID sucks butt

---
 src/main/java/frc/robot/subsystems/TurretSubsystem.java | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/java/frc/robot/subsystems/TurretSubsystem.java b/src/main/java/frc/robot/subsystems/TurretSubsystem.java
index 997a07a..57f2299 100644
--- a/src/main/java/frc/robot/subsystems/TurretSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/TurretSubsystem.java
@@ -115,7 +115,7 @@ public class TurretSubsystem extends TestableSubsystem {
     SparkMaxConfig config = new SparkMaxConfig().apply((SparkMaxConfig) SparkMaxConfig.Presets.REV_NEO);
     config.inverted(Constants.ShooterConstants.LAUNCHER_MOTOR_INVERTED);
     config.voltageCompensation(10);
-    config.closedLoop.p(0.0001).i(0.000004).d(0.0010); // I = 0.0000001
+    config.closedLoop.p(0.0001).i(0.000004).d(0.000007); // I = 0.0000001
     config.closedLoop.feedForward.kS(0.2).kV(0.000).kA(0.000);
     // config.closedLoop.allowedClosedLoopError(10, ClosedLoopSlot.kSlot0);
     config.closedLoop.feedbackSensor(FeedbackSensor.kPrimaryEncoder);