Merge branch 'main' of https://github.com/RoboLions/PID-Tuning2024

RoboLions · Feb 7, 2024 · bff7a38 · bff7a38
2 parents 4b5d2d8 + e81e957
commit bff7a38
Showing 1 changed file with 4 additions and 4 deletions.
diff --git a/MotionMagic/src/main/java/frc/robot/Robot.java b/MotionMagic/src/main/java/frc/robot/Robot.java
@@ -59,12 +59,12 @@ public void robotInit() {
     mm.MotionMagicJerk = 0;
 
     Slot0Configs slot0 = cfg.Slot0;
-    slot0.kP = 0;
-    slot0.kI = 0;
-    slot0.kD = 0;
+    slot0.kP = 0.31;
+    slot0.kI = 0.2;
+    slot0.kD = 0.;
     slot0.kA = 0.0202;
     slot0.kV = 0.109;
-    slot0.kS = 0.2; // Approximately 0.25V to get the mechanism moving
+    slot0.kS = 0.2; // Approximately 0.25V to get the mechanis     m moving
 
     FeedbackConfigs fdb = cfg.Feedback;
     fdb.SensorToMechanismRatio = 12.8; //6.75:1