From b746093592ddefc584f78a0488fe8493f8ddd123 Mon Sep 17 00:00:00 2001 From: mixxlto Date: Thu, 29 Jan 2026 17:01:28 -0800 Subject: [PATCH] Update Turret.java --- src/main/java/frc/robot/subsystems/turret/Turret.java | 10 ++++------ 1 file changed, 4 insertions(+), 6 deletions(-) diff --git a/src/main/java/frc/robot/subsystems/turret/Turret.java b/src/main/java/frc/robot/subsystems/turret/Turret.java index 6ed093b..471f8b0 100644 --- a/src/main/java/frc/robot/subsystems/turret/Turret.java +++ b/src/main/java/frc/robot/subsystems/turret/Turret.java @@ -63,13 +63,11 @@ public class Turret extends SubsystemBase { private double goalVelocityRadPerSec = 0.0; private double lastGoalRad = 0.0; - /* ---------------- Gains (ALPHABOT, MA-converted) ---------------- */ + /* ---------------- Gains ---------------- */ - // 3500 / rad → × 2π - private static final double kP = 22_000.0; + private static final double kP = 3500.0; - // 150 / (rad/s) → × 2π - private static final double kD = 943.0; + private static final double kD = 150.0; /* ---------------- Visualization ---------------- */ @@ -81,7 +79,7 @@ public class Turret extends SubsystemBase { /* ---------------- Constructor ---------------- */ public Turret() { - motor.setNeutralMode(NeutralModeValue.Brake); + motor.setNeutralMode(NeutralModeValue.Coast); motor.setPosition(0.0); motor.getConfigurator().apply( -- 2.39.5