From 29e5264b13e0e45a9d67863e913863d521891049 Mon Sep 17 00:00:00 2001 From: WesleyWong-972 Date: Mon, 23 Mar 2026 17:15:49 -0700 Subject: [PATCH] Drivetrain Changes Kousha likes more --- .../frc/robot/constants/swerve/DriveConstants.java | 10 +++++----- .../java/frc/robot/subsystems/shooter/Shooter.java | 2 +- 2 files changed, 6 insertions(+), 6 deletions(-) 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 -- 2.39.5