From 97fe75c0e9f329b57dd448425f8b5b5f0b8c0db6 Mon Sep 17 00:00:00 2001
From: TheRealGreydon <nmunier65@gmail.com>
Date: Sun, 4 Oct 2026 17:41:11 -0400
Subject: [PATCH] Pid

---
 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 6d6a7f4..aec7864 100644
--- a/src/main/java/frc/robot/subsystems/TurretSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/TurretSubsystem.java
@@ -116,7 +116,7 @@ public class TurretSubsystem extends TestableSubsystem {
     config.inverted(Constants.ShooterConstants.LAUNCHER_MOTOR_INVERTED);
     config.voltageCompensation(10);
     config.closedLoop.p(0.0002).i(0.000001).d(0.0005); // I = 0.0000001
-    config.closedLoop.feedForward.kS(0.2).kV(0.000).kA(0.000);
+    config.closedLoop.feedForward.kS(0.2).kV(0.00005).kA(0.001);
     // config.closedLoop.allowedClosedLoopError(10, ClosedLoopSlot.kSlot0);
     config.closedLoop.feedbackSensor(FeedbackSensor.kPrimaryEncoder);
     config.closedLoop.positionWrappingEnabled(false);