ejowfofjwaoi

diff --git a/src/main/java/frc/robot/subsystems/turret/Turret.java b/src/main/java/frc/robot/subsystems/turret/Turret.java
index 76dd7a3cb3a7223b917b5c540391baea7e19708d..784afa07ed7370b52e8f3055d877eaf8097995a9 100644 (file)
--- a/src/main/java/frc/robot/subsystems/turret/Turret.java
+++ b/src/main/java/frc/robot/subsystems/turret/Turret.java
@@ -82,8 +82,8 @@ public class Turret extends SubsystemBase {
 
         // to be frank I just took this from hood because I don't know good values yet
         config.Slot0.kS = 0.1; // Static friction compensation (should be >0 if friction exists)
-        config.Slot0.kG = 0.25; // Gravity compensation
-        config.Slot0.kV = 0.12; // Velocity gain: 1 rps -> 0.12V
+        config.Slot0.kG = 0.0; // Gravity compensation
+        config.Slot0.kV = 0.0; // Velocity gain: 1 rps -> 0.12V
         config.Slot0.kA = 0; // Acceleration gain: 1 rps² -> 0V (should be tuned if acceleration matters)
         
         config.Slot0.kP = Units.radiansToRotations(3.0 * 12); // If position error is 2.5 rotations, apply 12V (0.5 * 2.5 * 12V)