From e81e95739d6d082830ecc6622534a605f774f252 Mon Sep 17 00:00:00 2001
From: Layth Ishaque <74478535+Laythdabos@users.noreply.github.com>
Date: Tue, 30 Jan 2024 19:53:32 -0500
Subject: [PATCH] WHO DID: GOD DID!

---
 MotionMagic/src/main/java/frc/robot/Robot.java | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/MotionMagic/src/main/java/frc/robot/Robot.java b/MotionMagic/src/main/java/frc/robot/Robot.java
index da10c8e..e53fd79 100644
--- 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