From b7a2c549512cd04d4382ce41629579a856aa7d56 Mon Sep 17 00:00:00 2001 From: Hayden Heroux Date: Fri, 9 Feb 2024 18:58:28 -0500 Subject: [PATCH] perf(arm): Improve single-joint tune. --- src/main/java/frc/robot/arm/ArmConstants.java | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/robot/arm/ArmConstants.java b/src/main/java/frc/robot/arm/ArmConstants.java index ab4f8bc..37851e6 100644 --- a/src/main/java/frc/robot/arm/ArmConstants.java +++ b/src/main/java/frc/robot/arm/ArmConstants.java @@ -27,13 +27,13 @@ public static class ShoulderMotorConstants { public static final double SHOULDER_TO_ELBOW_DISTANCE = Units.inchesToMeters(16.775); /** Proportional gain in volts per rotation. */ - public static final double KP = 24.0; + public static final double KP = 36.0; /** Maximum speed of the shoulder joint in rotations per second. */ public static final double MAXIMUM_SPEED = 1.5; /** Maximum acceleration of the shoulder joint in rotations per second per second. */ - public static final double MAXIMUM_ACCELERATION = 20.0; + public static final double MAXIMUM_ACCELERATION = 5.0; } /** Constants for the elbow motor. */