From 71ab691b4696a22f4f8dac84633377408f230139 Mon Sep 17 00:00:00 2001
From: lukesta182 <33330639+lukesta182@users.noreply.github.com>
Date: Sat, 16 Mar 2019 13:19:13 -0600
Subject: [PATCH] Arm Led and PID update

---
 2019robot/src/main/java/org/usfirst/frc4388/robot/OI.java       | 1 +
 .../main/java/org/usfirst/frc4388/robot/subsystems/Wrist.java   | 2 +-
 2 files changed, 2 insertions(+), 1 deletion(-)

diff --git a/2019robot/src/main/java/org/usfirst/frc4388/robot/OI.java b/2019robot/src/main/java/org/usfirst/frc4388/robot/OI.java
index 0862dcd..c4d9bf4 100644
--- a/2019robot/src/main/java/org/usfirst/frc4388/robot/OI.java
+++ b/2019robot/src/main/java/org/usfirst/frc4388/robot/OI.java
@@ -103,6 +103,7 @@ public class OI
 
 			JoystickButton stow = new JoystickButton(m_operatorXbox.getJoyStick(), XboxController.B_BUTTON);
 			stow.whenPressed(new StowArm());
+			stow.whenPressed(new setLEDPattern(LEDPatterns.SOLID_RED));
 
 			SmartDashboard.putData("switch to manuel", new SetManual());
 //			SmartDashboard.putData("run turn test", new TestTurn());
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 855f456..de816df 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
 	public static final double KF_DOWN = 0.0;
 	public static final double P_Value = 3;
 	public static final double I_Value = 0.001;
-	public static final double D_Value = 250;
+	public static final double D_Value = 300;
 	public static final double RampRate = 0.0;
 	private PIDParams wristPIDParams = new PIDParams(P_Value, I_Value, D_Value, KF_DOWN);	// KF gets updated later
 	public static final double PID_ERROR_INCHES = 150;