From 2a3e42aeffa3e1d6ff407c3961d3f58105f0d664 Mon Sep 17 00:00:00 2001
From: lukesta182 <33330639+lukesta182@users.noreply.github.com>
Date: Sat, 9 Mar 2019 14:23:23 -0700
Subject: [PATCH] Constants Adjustments

---
 .../java/org/usfirst/frc4388/robot/subsystems/Arm.java    | 8 ++++----
 .../java/org/usfirst/frc4388/robot/subsystems/Wrist.java  | 2 +-
 2 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Arm.java b/2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Arm.java
index 3c82ae8..e5049ce 100644
--- a/2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Arm.java
+++ b/2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Arm.java
@@ -52,7 +52,7 @@ public class Arm extends Subsystem implements ControlLoopable
 	public static final double ZERO_POSITION_INCHES = -0.25;
 	public static final double NEAR_ZERO_POSITION_INCHES = 0.0;
 	public static final double MIN_POSITION_INCHES = 0.0;
-	public static final double MAX_POSITION_INCHES = 4096;
+	public static final double MAX_POSITION_INCHES = 3900;
 	public static final double AFTER_INTAKE_POSITION_INCHES = 4.0;
 
 	public static final double SWITCH_POSITION_INCHES = 24.0;
@@ -87,11 +87,11 @@ public class Arm extends Subsystem implements ControlLoopable
 	public static final double KF_UP = 0.01;
 	public static final double KF_DOWN = 0.0;
 	public static final double P_Value = 2;
-	public static final double I_Value = 0.00300;
+	public static final double I_Value = 0.00030;
 	public static final double D_Value = 200;
 	public static final double RampRate = 0.0;
 	private PIDParams armPIDParams = new PIDParams(P_Value, I_Value, D_Value, KF_DOWN);	// KF gets updated later
-	public static final double PID_ERROR_INCHES = 5.0;
+	public static final double PID_ERROR_INCHES = 5;
 	LimitSwitchSource limitSwitchSource;
 	// Pneumatics
 	private Solenoid speedShift;
@@ -175,7 +175,7 @@ public class Arm extends Subsystem implements ControlLoopable
 		double startPositionInches = motor1.getPositionWorld();
 		//mpController.setTarget(targetPositionInchesPID, targetPositionInchesPID > startPositionInches ? KF_UP : KF_DOWN); 
 		motor1.set(ControlMode.Position, targetPositionInches);
-		motor1.configClosedloopRamp(.02);
+		motor1.configClosedloopRamp(0);
 		//motor1.configPeakCurrentLimit(5);
 		motor1.configContinuousCurrentLimit(2);
 		motor1.config_kP(0, P_Value, TalonSRXEncoder.TIMEOUT_MS);
diff --git a/2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Wrist.java b/2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Wrist.java
index af02701..e405ce0 100644
--- a/2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Wrist.java
+++ b/2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Wrist.java
@@ -85,7 +85,7 @@ public class Wrist extends Subsystem implements ControlLoopable
 	private PIDParams pidPIDParamsHiGear = new PIDParams(0.075, 0.0, 0.0, 0.0, 0.0, 0.0);  
 	public static final double KF_UP = 0.01;
 	public static final double KF_DOWN = 0.0;
-	public static final double P_Value = 2;
+	public static final double P_Value = .5;
 	public static final double I_Value = 0.00300;
 	public static final double D_Value = 200;
 	public static final double RampRate = 0.0;