From: WesleyWong-972 <wesleycwong@gmail.com>
Date: Wed, 21 Jan 2026 00:02:47 +0000 (-0800)
Subject: ejowfofjwaoi
X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=d0e21616646b417362cfcbbaf8e83a308f4f6b37;p=FRC2026.git

ejowfofjwaoi
---

diff --git a/src/main/java/frc/robot/subsystems/turret/Turret.java b/src/main/java/frc/robot/subsystems/turret/Turret.java
index 76dd7a3..784afa0 100644
--- 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)