refactor(swerve): Move heading proportional gain to a variable.

Gongoliers · Feb 15, 2024 · eb7b68a · eb7b68a
1 parent 8a2020c
commit eb7b68a
Showing 1 changed file with 3 additions and 1 deletion.
diff --git a/src/main/java/frc/robot/swerve/DriveCommand.java b/src/main/java/frc/robot/swerve/DriveCommand.java
@@ -40,7 +40,9 @@ public DriveCommand(CommandXboxController driverController) {
 
     addRequirements(swerve);
 
-    headingFeedback = new PIDController(6.0, 0.0, 0.1);
+    final double headingKp = 6.0;
+
+    headingFeedback = new PIDController(headingKp, 0.0, 0.1);
     headingFeedback.enableContinuousInput(-0.5, 0.5);
 
     headingGoal = new State(0.0, 0.0);