From 1c1b645c932bf2398159f6694939b8986aab3ced Mon Sep 17 00:00:00 2001
From: Alvin Zhang <114535782+mimizh2418@users.noreply.github.com>
Date: Mon, 5 Feb 2024 08:39:21 -0800
Subject: [PATCH] fix: correct inversions and CAN ids (#25)

---
 src/main/java/org/team1540/robot2024/Constants.java         | 6 +++---
 .../robot2024/subsystems/shooter/FlywheelsIOTalonFX.java    | 4 ++--
 2 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/src/main/java/org/team1540/robot2024/Constants.java b/src/main/java/org/team1540/robot2024/Constants.java
index 4d632b8c..37898345 100644
--- a/src/main/java/org/team1540/robot2024/Constants.java
+++ b/src/main/java/org/team1540/robot2024/Constants.java
@@ -110,8 +110,8 @@ public static class Vision {
     public static class Shooter {
         public static class Flywheels {
             // TODO: determine ids
-            public static final int LEFT_ID = 0;
-            public static final int RIGHT_ID = 0;
+            public static final int LEFT_ID = 11;
+            public static final int RIGHT_ID = 12;
 
             public static final double GEAR_RATIO = 24.0 / 36.0;
             public static final double SIM_MOI = 4.08232288e-4;
@@ -120,7 +120,7 @@ public static class Flywheels {
             public static final double KP = 0.4;
             public static final double KI = 0.0;
             public static final double KD = 0.0;
-            public static final double KS = 0.01146;
+            public static final double KS = 0.26925;
             public static final double KV = 0.07485; // TODO: this is what recalc says, may have to tune
 
             public static final double ERROR_TOLERANCE_RPM = 50;
diff --git a/src/main/java/org/team1540/robot2024/subsystems/shooter/FlywheelsIOTalonFX.java b/src/main/java/org/team1540/robot2024/subsystems/shooter/FlywheelsIOTalonFX.java
index 0856d77c..83d90d6b 100644
--- a/src/main/java/org/team1540/robot2024/subsystems/shooter/FlywheelsIOTalonFX.java
+++ b/src/main/java/org/team1540/robot2024/subsystems/shooter/FlywheelsIOTalonFX.java
@@ -54,8 +54,8 @@ public FlywheelsIOTalonFX() {
 
         leftMotor.getConfigurator().apply(config);
         rightMotor.getConfigurator().apply(config);
-        leftMotor.setInverted(false);
-        rightMotor.setInverted(true);
+        leftMotor.setInverted(true);
+        rightMotor.setInverted(false);
 
         BaseStatusSignal.setUpdateFrequencyForAll(
                 50,