fixed hooray

diff --git a/.vscode/settings.json b/.vscode/settings.json
index 5e6ede8698d0717756c1ab40e7a2cef16e5fea59..6f5f6cb7ab6c54a539eef8007651b03bc4d066b2 100644 (file)
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -57,5 +57,6 @@
     "edu.wpi.first.math.**.proto.*",
     "edu.wpi.first.math.**.struct.*",
   ],
-  "java.dependency.enableDependencyCheckup": false
+  "java.dependency.enableDependencyCheckup": false,
+  "java.jdt.ls.vmargs": "-XX:+UseParallelGC -XX:GCTimeRatio=4 -XX:AdaptiveSizePolicyWeight=90 -Dsun.zip.disableMemoryMapping=true -Xmx2G -Xms100m -Xlog:disable"
 }

diff --git a/src/main/java/frc/robot/subsystems/turret/Turret.java b/src/main/java/frc/robot/subsystems/turret/Turret.java
index 66368724f4a2770c4e3cbb97f09d0a67376aec61..d0c5233600087f0de597f532879751aae0f86de3 100644 (file)
--- a/src/main/java/frc/robot/subsystems/turret/Turret.java
+++ b/src/main/java/frc/robot/subsystems/turret/Turret.java
@@ -75,15 +75,14 @@ public class Turret extends SubsystemBase {
 
         TalonFXConfiguration config = new TalonFXConfiguration();
 
-        // 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 = 0.0; // 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)
-        config.Slot0.kI = Units.radiansToRotations(0.00); // Integral term (usually left at 0 for MotionMagic)
-        config.Slot0.kD = Units.radiansToRotations(0.00 * 12); // Derivative term (used to dampen oscillations)
+        config.Slot0.kP = 10.0; // If position error is 1 rotation, apply 10V
+        config.Slot0.kI = 0.0; // Integral term (usually left at 0 for MotionMagic)
+        config.Slot0.kD = 0.0; // Derivative term (used to dampen oscillations)
         
         MotionMagicConfigs motionMagicConfigs = config.MotionMagic;
         motionMagicConfigs.MotionMagicCruiseVelocity = Units.radiansToRotations(TurretConstants.MAX_VELOCITY / TurretConstants.TURRET_RADIUS) * gearRatio; // max velocity * gear ratio
@@ -110,33 +109,8 @@ public class Turret extends SubsystemBase {
         SmartDashboard.putData("Set to 180 degrees", new InstantCommand(() -> setSetpoint(180, 0)));
         SmartDashboard.putData("Set to 270 degrees", new InstantCommand(() -> setSetpoint(270, 0)));
 
-        // SmartDashboard.putData("Set to 1,1", new InstantCommand(() -> setTarget(1,1)));
-        // SmartDashboard.putData("Set to -1,1", new InstantCommand(( )-> setTarget(-1,1)));
-        // SmartDashboard.putData("Set to -1,-1", new InstantCommand(() -> setTarget(-1,-1)));
-        // SmartDashboard.putData("Set to 1,-1", new InstantCommand(() -> setTarget(1,-1)));
-
-        // SmartDashboard.putData("Print out target position", new InstantCommand(()-> System.out.println(getTargetPosition())));
     }
     
-    // public void toggleAlignOn() {
-    //     if (alignOn) {
-    //         alignOn = false
-    //     } else {
-    //         alignOn = true
-    //     }
-    // }
-
-    // public void setTarget(double x, double y) {
-    //     D_x = x;
-    //     D_y = y;
-    // }
-
-    // public double[] getTargetPosition() {
-    //     System.out.println("Distance X value is: "+ D_x + "and the Distance Y valye is: " + D_y);
-    //     double[] target = {D_x, D_y};
-    //     return target;
-    // }
-
     public void turnOnAlignment() {
         alignOn = true;
     }