From d0e21616646b417362cfcbbaf8e83a308f4f6b37 Mon Sep 17 00:00:00 2001 From: WesleyWong-972 Date: Tue, 20 Jan 2026 16:02:47 -0800 Subject: [PATCH] ejowfofjwaoi --- src/main/java/frc/robot/subsystems/turret/Turret.java | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) 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) -- 2.39.5