From 4897484183b17d6984066aa35577541c888fb7e5 Mon Sep 17 00:00:00 2001
From: lukesta182 <33330639+lukesta182@users.noreply.github.com>
Date: Tue, 19 Mar 2019 22:06:17 -0600
Subject: [PATCH] motion magic minor edits

---
 .../java/org/usfirst/frc4388/robot/subsystems/Wrist.java     | 5 ++---
 1 file changed, 2 insertions(+), 3 deletions(-)

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 6d23b60..158f29d 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
@@ -87,7 +87,7 @@ 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 = 4;
+	public static final double P_Value = 1;
 	public static final double I_Value = 0.0000;
 	public static final double D_Value = 000;
 	public static final double F_Value = 1;
@@ -104,7 +104,7 @@ public class Wrist extends Subsystem implements ControlLoopable
 	// Misc
 	public static final double AUTO_ZERO_MOTOR_CURRENT = 4.0;
 	private boolean isFinished;
-	private WristControlMode wristControlMode = WristControlMode.MOTION_MAGIC;
+	private WristControlMode wristControlMode = WristControlMode.JOYSTICK_PID;
 	public double targetPositionInchesPID = 0;
 	public double targetPositionInchesMM = 0;
 	private boolean firstMpPoint;
@@ -194,7 +194,6 @@ public class Wrist extends Subsystem implements ControlLoopable
 	}
 	public void updatePositionMM(double targetPositionInches){
 		targetPositionInchesMM = limitPosition(targetPositionInches);
-		System.err.println("we are here");
 		//double startPositionInches = motor1.getPositionWorld();
 		//System.err.println("compensation = " + compensation);
 		wristMotor1.set(ControlMode.MotionMagic, targetPositionInches);