From: WesleyWong-972 <wesleycwong@gmail.com>
Date: Tue, 24 Mar 2026 00:15:49 +0000 (-0700)
Subject: Drivetrain Changes
X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=29e5264b13e0e45a9d67863e913863d521891049;p=FRC2026.git

Drivetrain Changes

Kousha likes more
---

diff --git a/src/main/java/frc/robot/constants/swerve/DriveConstants.java b/src/main/java/frc/robot/constants/swerve/DriveConstants.java
index 5cb0da5..dc2d172 100644
--- a/src/main/java/frc/robot/constants/swerve/DriveConstants.java
+++ b/src/main/java/frc/robot/constants/swerve/DriveConstants.java
@@ -147,10 +147,10 @@ public class DriveConstants {
     
         /* Drive Motor PID Values */
         public static final double[] P_VALUES = {
-            0.1,
-            0.1,
-            0.1,
-            0.1
+            0.3,
+            0.3,
+            0.3,
+            0.3
         };
         public static final double[] I_VALUES = {
             0,
@@ -188,7 +188,7 @@ public class DriveConstants {
         // Open loop prevents throttle from changing too quickly.
         // It will limit it to time given (in seconds) to go from zero to full throttle.
         // A small open loop ramp (0.25) helps with tread wear, tipping, etc
-        public static final double OPEN_LOOP_RAMP = 0.25;
+        public static final double OPEN_LOOP_RAMP = 0.1;
     
         public static final double WHEEL_CIRCUMFERENCE = 2*Math.PI*WHEEL_RADIUS;
     
diff --git a/src/main/java/frc/robot/subsystems/shooter/Shooter.java b/src/main/java/frc/robot/subsystems/shooter/Shooter.java
index 5e751e2..8565201 100644
--- a/src/main/java/frc/robot/subsystems/shooter/Shooter.java
+++ b/src/main/java/frc/robot/subsystems/shooter/Shooter.java
@@ -38,7 +38,7 @@ public class Shooter extends SubsystemBase implements ShooterIO {
         updateInputs();
         
         TalonFXConfiguration config = new TalonFXConfiguration();
-        config.Slot0.kP = 1.0; //tune p value
+        config.Slot0.kP = 0.5; //0.5 to stop fighting
         config.Slot0.kI = 0;
         config.Slot0.kD = 0.0;
         config.Slot0.kV = 0.125; //Maximum rps = 100 --> 12V/100rps