Slides Constants

ftc13100 · Nov 28, 2024 · c78550e · c78550e
1 parent 4a50493
commit c78550e
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Showing 3 changed files with 6 additions and 6 deletions.
diff --git a/TeamCode/src/main/kotlin/org/firstinspires/ftc/teamcode/constants/SlidesConstants.kt b/TeamCode/src/main/kotlin/org/firstinspires/ftc/teamcode/constants/SlidesConstants.kt
@@ -1,8 +1,8 @@
 package org.firstinspires.ftc.teamcode.constants
 
 enum class SlidesConstants(val value: Double) {
-    kP(0.02),
+    kP(0.014),
     kI(0.0),
-    kD(0.00045),
-    kG(0.1)
+    kD(0.0),
+    kG(0.2)
 }
diff --git a/...de/src/main/kotlin/org/firstinspires/ftc/teamcode/opModes/tuning/slides/SlidesPIDTuner.kt b/...de/src/main/kotlin/org/firstinspires/ftc/teamcode/opModes/tuning/slides/SlidesPIDTuner.kt
@@ -50,7 +50,6 @@ class SlidesPIDTuner : CommandOpMode() {
 
     companion object {
         @JvmField
-        // NOTE THAT THIS VALUE SHOULD BE DEGREES
         var target = 0.0
     }
 }
diff --git a/...ode/src/main/kotlin/org/firstinspires/ftc/teamcode/subsystems/slides/ElevatorSubsystem.kt b/...ode/src/main/kotlin/org/firstinspires/ftc/teamcode/subsystems/slides/ElevatorSubsystem.kt
@@ -49,6 +49,7 @@ class ElevatorSubsystem(
     }
 
     override fun periodic() {
+        controller.setPID(kP, kI, kD)
         val output = controller.calculate(slidePos)
 
         if (enabled)
@@ -69,7 +70,7 @@ class ElevatorSubsystem(
 
     companion object {
         @JvmField
-        var kP = 0.0
+        var kP = 0.014
 
         @JvmField
         var kI = 0.0
@@ -78,6 +79,6 @@ class ElevatorSubsystem(
         var kD = 0.0
 
         @JvmField
-        var kG = 0.1
+        var kG = 0.2
     }
 }