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kMasterSpeakerMap.put(3.5, 31.7+2.2); // - kMasterSpeakerMap.put(4.0, 30.0+0.6); // + kMasterSpeakerMap.put(3.5, 31.7+2.2 + 3.6); // + kMasterSpeakerMap.put(4.0, 30.0+0.6 + 4.5); // kMasterSpeakerMap.put(4.5, 27.9-1.4); // kMasterSpeakerMap.put(5.0, 26.5+0.6); // - kMasterSpeakerMap.put(5.5, 26.0-3.2); // - kMasterSpeakerMap.put(6.0, 23.4+0.6); // + kMasterSpeakerMap.put(5.5, 26.0-3.2 + 2.1); // + kMasterSpeakerMap.put(6.0, 23.4+0.6+0.2); // // kMasterSpeakerMap.put(6.52, 22.35); // // kMasterSpeakerMap.put(7.04, 22.0); // // kMasterSpeakerMap.put(7.4961, 20.7); // it stops working here diff --git a/src/main/java/team3647/frc2024/constants/ShooterConstants.java b/src/main/java/team3647/frc2024/constants/ShooterConstants.java index 35939a6..6712b89 100644 --- a/src/main/java/team3647/frc2024/constants/ShooterConstants.java +++ b/src/main/java/team3647/frc2024/constants/ShooterConstants.java @@ -36,7 +36,7 @@ public class ShooterConstants { kWheelRotationMeters / GlobalConstants.kFalconTicksPerRotation * kGearboxReduction; // tune ff - public static final double kS = 1.6; // 21.415; // 17.729; // 8.7167; + public static final double kS = 9.8182; // 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;