From: WesleyWong-972 <wesleycwong@gmail.com>
Date: Sun, 19 Apr 2026 17:04:30 +0000 (-0700)
Subject: Tuned Turret (only kP and ffkV)
X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=14ba8fe4f855de0ae5e752d55dde825f89467636;p=FRC2026.git

Tuned Turret (only kP and ffkV)
---

diff --git a/src/main/java/frc/robot/subsystems/turret/Turret.java b/src/main/java/frc/robot/subsystems/turret/Turret.java
index 550c956..d595d5e 100644
--- a/src/main/java/frc/robot/subsystems/turret/Turret.java
+++ b/src/main/java/frc/robot/subsystems/turret/Turret.java
@@ -75,10 +75,11 @@ public class Turret extends SubsystemBase implements TurretIO{
 		TalonFXConfiguration config = new TalonFXConfiguration();
 		config.MotorOutput.Inverted = InvertedValue.CounterClockwise_Positive;
     
-		config.Slot0.kP = 12.0; 
-		config.Slot0.kS = 0.1; // Static friction compensation
-		config.Slot0.kV = 0.12; // Adjusted kV for the gear ratio
+		config.Slot0.kP = 1.5;
+		config.Slot0.kS = 0.0; // Static friction compensation
+		config.Slot0.kV = 0.0; // Adjusted kV for the gear ratio
 		config.Slot0.kD = 0.0; // The "Braking" term to stop overshoot
+		config.Slot0.kA = 0.0;
 
 		var mm = config.MotionMagic;
 		mm.MotionMagicCruiseVelocity = Units.radiansToRotations(TurretConstants.MAX_VELOCITY) * TurretConstants.GEAR_RATIO;
diff --git a/src/main/java/frc/robot/subsystems/turret/TurretConstants.java b/src/main/java/frc/robot/subsystems/turret/TurretConstants.java
index f08df03..bdd9eb2 100644
--- a/src/main/java/frc/robot/subsystems/turret/TurretConstants.java
+++ b/src/main/java/frc/robot/subsystems/turret/TurretConstants.java
@@ -24,7 +24,8 @@ public class TurretConstants {
 
 	public static final double EXTRAPOLATION_TIME_CONSTANT = 0.06;
 
-	public static final double FEEDFORWARD_KV = 0.06;
+	public static final double FEEDFORWARD_KV = 0.02
+    ;
 
     public static final double NORMAL_CURRENT_LIMIT = 40.0; // A
     public static final double CALIBRATION_CURRENT_LIMIT = 10.0; // A