Team4388/2026KPopRobotHunters
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add testing changes

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mimigamin
2026-03-19 18:32:02 -06:00
parent 917aaa7746
commit 4ffbe3f595
7 changed files with 90 additions and 74 deletions
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src/main/java/frc4388/robot/subsystems/shooter/ShooterConstants.java
+4 -4
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@@ -35,7 +35,7 @@ public class ShooterConstants {
public static final ConfigurableDouble MODEL_TRIM = new ConfigurableDouble("TRIM SHOOTER SPEED", 0);
public static final ConfigurableDouble AIM_LEAD_TIME = new ConfigurableDouble("Aim lead time", 0);
public static final ConfigurableDouble AIM_LEAD_TIME = new ConfigurableDouble("Aim lead time", -1);
// Shoot mode tolerances
public static final ConfigurableDouble ROBOT_MIN_HUB = new ConfigurableDouble("Shoot min dist M", 1.8);
@@ -82,8 +82,8 @@ public class ShooterConstants {
// Motor Configuration
public static Slot0Configs SHOOTER_PID = new Slot0Configs()
.withKV(0.0)
.withKP(0.05)
.withKI(0.20)
.withKP(0.02)
.withKI(0.15)
.withKD(0.0);
@@ -91,7 +91,7 @@ public class ShooterConstants {
public static ConfigurableDouble shooter_kP = new ConfigurableDouble("Shooter KP", 0.08);
public static ConfigurableDouble shooter_kP = new ConfigurableDouble("Shooter KP", 0.02);
public static ConfigurableDouble shooter_kI = new ConfigurableDouble("Shooter KI", 0.15);
public static ConfigurableDouble shooter_kD = new ConfigurableDouble("Shooter KD", 0);