From 0c27aa728f0ab386bdc6e7ddc860f41296e3e569 Mon Sep 17 00:00:00 2001 From: Mihir Patankar Date: Tue, 2 Apr 2024 18:58:13 -0400 Subject: [PATCH] retune shooter gains for black mamba --- src/main/java/frc/robot/shooter/Shooter.java | 18 +++++++++--------- 1 file changed, 9 insertions(+), 9 deletions(-) diff --git a/src/main/java/frc/robot/shooter/Shooter.java b/src/main/java/frc/robot/shooter/Shooter.java index 41e2f1d..97bd94d 100644 --- a/src/main/java/frc/robot/shooter/Shooter.java +++ b/src/main/java/frc/robot/shooter/Shooter.java @@ -24,15 +24,15 @@ public class Shooter extends SubsystemBase { private final double kReadyToShootToleranceRps = 3.0; // Denominator for gains here are in rotations - public static final double topRollerkS = 0.081727; - public static final double topRollerkV = 0.11753; - public static final double topRollerkA = 0.015313; - public static final double bottomRollerkS = 0.11496; - public static final double bottomRollerkV = 0.11868; - public static final double bottomRollerkA = 0.0141; - - public static final double topRollerkP = 0.17726; - public static final double bottomRollerkP = 0.17918; + public static final double topRollerkS = 0.15945; + public static final double topRollerkV = 0.11596; + public static final double topRollerkA = 0.013645; + public static final double bottomRollerkS = 0.11589; + public static final double bottomRollerkV = 0.11618; + public static final double bottomRollerkA = 0.015157; + + public static final double topRollerkP = 0.176; + public static final double bottomRollerkP = 0.176; private final SysIdRoutine m_sysIdRoutine; private final ShooterIO m_io;