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Castor2026
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PID sucks butt

This commit is contained in:
Team578 Driver Station 2026-04-17 17:56:35 -04:00
parent e04bc20802
commit 54bc941191
1 changed files with 1 additions and 1 deletions
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2
src/main/java/frc/robot/subsystems/TurretSubsystem.java
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@ -115,7 +115,7 @@ public class TurretSubsystem extends TestableSubsystem {
SparkMaxConfig config = new SparkMaxConfig().apply((SparkMaxConfig) SparkMaxConfig.Presets.REV_NEO); SparkMaxConfig config = new SparkMaxConfig().apply((SparkMaxConfig) SparkMaxConfig.Presets.REV_NEO);
config.inverted(Constants.ShooterConstants.LAUNCHER_MOTOR_INVERTED); config.inverted(Constants.ShooterConstants.LAUNCHER_MOTOR_INVERTED);
config.voltageCompensation(10); 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.feedForward.kS(0.2).kV(0.000).kA(0.000);
// config.closedLoop.allowedClosedLoopError(10, ClosedLoopSlot.kSlot0); // config.closedLoop.allowedClosedLoopError(10, ClosedLoopSlot.kSlot0);
config.closedLoop.feedbackSensor(FeedbackSensor.kPrimaryEncoder); config.closedLoop.feedbackSensor(FeedbackSensor.kPrimaryEncoder);