From 14ba8fe4f855de0ae5e752d55dde825f89467636 Mon Sep 17 00:00:00 2001 From: WesleyWong-972 Date: Sun, 19 Apr 2026 10:04:30 -0700 Subject: [PATCH] Tuned Turret (only kP and ffkV) --- src/main/java/frc/robot/subsystems/turret/Turret.java | 7 ++++--- .../java/frc/robot/subsystems/turret/TurretConstants.java | 3 ++- 2 files changed, 6 insertions(+), 4 deletions(-) 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 -- 2.39.5