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MillenniumFalcons · Oct 8, 2024 · 7d8426b · 7d8426b
1 parent f772d6b
commit 7d8426b
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Showing 2 changed files with 3 additions and 3 deletions.
diff --git a/src/main/java/team3647/frc2024/constants/ShooterConstants.java b/src/main/java/team3647/frc2024/constants/ShooterConstants.java
@@ -36,15 +36,15 @@ public class ShooterConstants {
             kWheelRotationMeters / GlobalConstants.kFalconTicksPerRotation * kGearboxReduction;
 
     // tune ff
-    public static final double kS = 2.0; // 21.415; // 17.729; // 8.7167;
+    public static final double kS = 1.6; // 21.415; // 17.729; // 8.7167;
     public static final double kV = 0; // 1.5; // 0.28947; // 0.24226;
     public static final double kA = 0; // 0.88966; // 0.60231;
 
     public static final SimpleMotorFeedforward ff = new SimpleMotorFeedforward(kS, kV, kA);
 
     public static final double leftKP = 0.3;
     public static final double rightKP = 0.3;
-    public static final double masterKI = 0;
+    public static final double masterKI = 0.001;
     public static final double masterKD = 0;
 
     public static final double kNominalVoltage = 11.0;

diff --git a/src/main/java/team3647/frc2024/subsystems/Superstructure.java b/src/main/java/team3647/frc2024/subsystems/Superstructure.java
@@ -165,7 +165,7 @@ public Command stowChurro() {
     }
 
     public Command spinUpAmp() {
-        return shooterCommands.setVelocity(() -> 6, () -> 1);
+        return shooterCommands.setVelocity(() -> 4, () -> 1);
     }
 
     public Command setShootModeStationary() {