fix: shooter uses gravity feedforward correctly (#22)

flamingchickens1540 · Feb 3, 2024 · ba9104f · ba9104f
1 parent 48618e7
commit ba9104f
Showing 1 changed file with 1 addition and 0 deletions.
diff --git a/src/main/java/org/team1540/robot2024/subsystems/shooter/ShooterPivotIOTalonFX.java b/src/main/java/org/team1540/robot2024/subsystems/shooter/ShooterPivotIOTalonFX.java
@@ -50,6 +50,7 @@ public ShooterPivotIOTalonFX() {
         motorConfig.Slot0.kS = KS;
         motorConfig.Slot0.kG = KG;
         motorConfig.Slot0.kV = KV;
+        motorConfig.Slot0.GravityType = GravityTypeValue.Arm_Cosine;
 
         motorConfig.MotionMagic.MotionMagicCruiseVelocity = CRUISE_VELOCITY_RPS;
         motorConfig.MotionMagic.MotionMagicAcceleration = MAX_ACCEL_RPS2;