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Castor2026
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This commit is contained in:
TheRealGreydon 2026-10-04 17:41:11 -04:00
parent 5986bc8f92
commit 97fe75c0e9
1 changed files with 1 additions and 1 deletions
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src/main/java/frc/robot/subsystems/TurretSubsystem.java
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@ -116,7 +116,7 @@ public class TurretSubsystem extends TestableSubsystem {
config.inverted(Constants.ShooterConstants.LAUNCHER_MOTOR_INVERTED); config.inverted(Constants.ShooterConstants.LAUNCHER_MOTOR_INVERTED);
config.voltageCompensation(10); config.voltageCompensation(10);
config.closedLoop.p(0.0002).i(0.000001).d(0.0005); // I = 0.0000001 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.allowedClosedLoopError(10, ClosedLoopSlot.kSlot0);
config.closedLoop.feedbackSensor(FeedbackSensor.kPrimaryEncoder); config.closedLoop.feedbackSensor(FeedbackSensor.kPrimaryEncoder);
config.closedLoop.positionWrappingEnabled(false); config.closedLoop.positionWrappingEnabled(false);