From 8366522decd5e2676545e6567087bcbb79c6cd0f Mon Sep 17 00:00:00 2001
From: apoorva <97716935+carokhan@users.noreply.github.com>
Date: Thu, 24 Oct 2024 08:07:34 -0400
Subject: [PATCH] idiot

---
 src/main/java/frc/robot/BuildConstants.java          | 10 +++++-----
 src/main/java/frc/robot/Constants.java               |  6 +++---
 src/main/java/frc/robot/subsystems/pivot2/Pivot.java |  8 +++++---
 3 files changed, 13 insertions(+), 11 deletions(-)

diff --git a/src/main/java/frc/robot/BuildConstants.java b/src/main/java/frc/robot/BuildConstants.java
index 7f69548..4de55d7 100644
--- a/src/main/java/frc/robot/BuildConstants.java
+++ b/src/main/java/frc/robot/BuildConstants.java
@@ -5,12 +5,12 @@ public final class BuildConstants {
   public static final String MAVEN_GROUP = "";
   public static final String MAVEN_NAME = "Forte-2-5";
   public static final String VERSION = "unspecified";
-  public static final int GIT_REVISION = 89;
-  public static final String GIT_SHA = "5eb048c58fec65b3f00463e715a48f1dd720a332";
-  public static final String GIT_DATE = "2024-10-23 06:52:00 EDT";
+  public static final int GIT_REVISION = 90;
+  public static final String GIT_SHA = "0633ff8fb4db72688603eca20c002bee66f45e75";
+  public static final String GIT_DATE = "2024-10-23 19:32:07 EDT";
   public static final String GIT_BRANCH = "main";
-  public static final String BUILD_DATE = "2024-10-23 19:29:37 EDT";
-  public static final long BUILD_UNIX_TIME = 1729726177390L;
+  public static final String BUILD_DATE = "2024-10-24 07:54:58 EDT";
+  public static final long BUILD_UNIX_TIME = 1729770898939L;
   public static final int DIRTY = 1;
 
   private BuildConstants() {}
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index 6dfbf38..35a847b 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -281,8 +281,8 @@ public static class ShooterConstants {
 
     public static final int pivotCurrentLimit = 15;
 
-    public static final double kGPivot = 0.38;
-    public static final double kVPivot = 0.8;
+    public static final double kGPivot = 0.381640625;
+    public static final double kVPivot = 0.875;
     public static final double kAPivot = 0.00;
 
     public static final double kVShooter = 0.0055; // COMP: 0.0055, DEMO: 0.0041875
@@ -292,7 +292,7 @@ public static class ShooterConstants {
     public static final double kIShooterReal = 0.00000;
     public static final double kSShooterReal = 0;
 
-    public static final double kPPivot = 3.0;
+    public static final double kPPivot = 2.0;
 
     public static final double kPShooterSim = 0.5;
     public static final double kIShooterSim = 0.0;
diff --git a/src/main/java/frc/robot/subsystems/pivot2/Pivot.java b/src/main/java/frc/robot/subsystems/pivot2/Pivot.java
index 42c7d32..0923ed3 100644
--- a/src/main/java/frc/robot/subsystems/pivot2/Pivot.java
+++ b/src/main/java/frc/robot/subsystems/pivot2/Pivot.java
@@ -62,9 +62,11 @@ public Command setPivotTarget(DoubleSupplier radians) {
     return this.run(
         () -> {
           double volts =
-              pivotPID.calculate(inputs.pivotPosition.getRadians(), radians.getAsDouble());
-          // + pivotFF.calculate(
-          //     pivotPID.getSetpoint().position, pivotPID.getSetpoint().velocity);
+              pivotPID.calculate(
+                  inputs.pivotPosition.getRadians(),
+                  radians.getAsDouble()
+                      + pivotFF.calculate(
+                          pivotPID.getSetpoint().position, pivotPID.getSetpoint().velocity));
 
           io.setPivotVoltage(volts);
           inputs.pivotAppliedVolts = volts;