constant changes

blair-robot-project · Sep 26, 2024 · 1eab011 · 1eab011
1 parent f64c75d
commit 1eab011
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Showing 2 changed files with 3 additions and 3 deletions.
diff --git a/src/main/kotlin/frc/team449/robot2024/constants/drives/SwerveConstants.kt b/src/main/kotlin/frc/team449/robot2024/constants/drives/SwerveConstants.kt
@@ -28,9 +28,9 @@ object SwerveConstants {
   const val TURN_ENC_OFFSET_BR = 0.391 + 0.5
 
   /** PID gains for turning each module */
-  const val TURN_KP = 1.05
+  const val TURN_KP = 0.5
   const val TURN_KI = 0.0
-  const val TURN_KD = 0.075
+  const val TURN_KD = 0.0
 
   /** Feed forward values for driving each module */
   const val DRIVE_KS = 0.20285 + 0.02

diff --git a/src/main/kotlin/frc/team449/robot2024/constants/subsystem/PivotConstants.kt b/src/main/kotlin/frc/team449/robot2024/constants/subsystem/PivotConstants.kt
@@ -19,7 +19,7 @@ object PivotConstants {
   const val ENC_CHANNEL = 0
   const val GEARING = 1.0 / 75.0
   const val UPR = 2.0 * PI * (26.0 / 36.0)
-  const val OFFSET = - (0.3333333134651184 / UPR)
+  const val OFFSET = - (0.3333333134651184 / UPR) - (1.1585707388652555 / UPR)
   const val ENC_INVERTED = true
 
   val QUAD_ENCODER = Encoder(1, 2)