fix(shooter): Lower maximum speed and slightly boost kP.

Gongoliers · May 16, 2024 · 5784d3b · 5784d3b
1 parent 11e45b3
commit 5784d3b
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Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/src/main/java/frc/robot/shooter/Shooter.java b/src/main/java/frc/robot/shooter/Shooter.java
@@ -24,9 +24,9 @@ public class Shooter extends Subsystem {
                       .motorToMechanismRatio(28.0 / 16.0)
                       .statorCurrentLimit(40.0)) // TODO Test, 40A -> 80A?
           .motionProfileConfig(
-              motionProfile -> motionProfile.maximumVelocity(60).maximumAcceleration(200))
+              motionProfile -> motionProfile.maximumVelocity(50).maximumAcceleration(200))
           .feedforwardControllerConfig(feedforward -> feedforward.kS(0.14).kV(0.2))
-          .feedbackControllerConfig(feedback -> feedback.kP(0.14))
+          .feedbackControllerConfig(feedback -> feedback.kP(0.4))
           .build();
 
   /** Flywheel controller. */

diff --git a/src/main/java/frc/robot/shooter/ShooterState.java b/src/main/java/frc/robot/shooter/ShooterState.java
@@ -20,10 +20,10 @@ public record ShooterState(
   public static final ShooterState EJECT = new ShooterState(0, -44);
 
   /** Subwoofer shooting state. */
-  public static final ShooterState SUBWOOFER = new ShooterState(60, 44);
+  public static final ShooterState SUBWOOFER = new ShooterState(50, 44);
 
   /** Skim shooting state. */
-  public static final ShooterState SKIM = new ShooterState(60, 44);
+  public static final ShooterState SKIM = new ShooterState(50, 44);
 
   /** Amp shooting state. */
   public static final ShooterState AMP = new ShooterState(10, 20);