Update Turret.java

diff --git a/src/main/java/frc/robot/subsystems/turret/Turret.java b/src/main/java/frc/robot/subsystems/turret/Turret.java
index 5c23034fb8b909cb4b95975dc3f5283882e67c28..580a139c58f4690cc230d27f84f51fd48a8c1aa5 100644 (file)
--- a/src/main/java/frc/robot/subsystems/turret/Turret.java
+++ b/src/main/java/frc/robot/subsystems/turret/Turret.java
@@ -84,14 +84,6 @@ public class Turret extends SubsystemBase implements TurretIO{
        private double lastFilteredRad = 0.0;
        private double lastRawSetpoint = 0.0;
 
-    // private final MotionMagicVelocityVoltage velocityRequest = new MotionMagicVelocityVoltage(0.0).withUpdateFreqHz(0);
-
-       /* ---------------- Gains ---------------- */
-
-       private static final double kP = 15.0;
-
-       private static final double kD = 0.2;
-
        /* ---------------- Visualization ---------------- */
 
        private final Mechanism2d mech = new Mechanism2d(100, 100);
@@ -99,7 +91,6 @@ public class Turret extends SubsystemBase implements TurretIO{
        private final MechanismLigament2d ligament = root.append(new MechanismLigament2d("barrel", 30, 0));
 
     // private final SimpleMotorFeedforward feedForward = new SimpleMotorFeedforward(.1, 1. / DCMotor.getKrakenX60(1).KvRadPerSecPerVolt, 0.010);
-    private final SimpleMotorFeedforward feedForward = new SimpleMotorFeedforward(0.1, (1. / DCMotor.getKrakenX60(1).KvRadPerSecPerVolt) * 0.8, 0);
        private final MotionMagicVoltage mmVoltageRequest = new MotionMagicVoltage(0);
 
        /* ---------------- Constructor ---------------- */