add missing table point

FRC-4509-MechBulls · Mar 5, 2024 · 9b4ce4c · 9b4ce4c
1 parent 86a14bc
commit 9b4ce4c
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Showing 2 changed files with 10 additions and 10 deletions.
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -22,20 +22,20 @@ public static class ShootingTables{
     public static final double[] dist = {
             1.31,
             2.56,
-            3.47,
-            3.87
+            2.77,
+            3.51
     };
     public static final double[] velocity = {
             53,
             73,
-            64,
-            64
+            74,
+            75
     };
     public static final double[] angle = {
-            27,
-            43,
-            47,
-            48
+            25,
+            41,
+            41,
+            44
 
     };
 
@@ -72,7 +72,7 @@ public static class EFCConstants{
 
   public static class ArmConstants{
 
-    public static final double armkP = 0.5;
+    public static final double armkP = 0.3;
     public static final double armkI = 0.1;
     public static final double armkD = 0.0;
     public static final double armIZone = 0.15;

diff --git a/src/main/java/frc/robot/subsystems/ArmSubsystem.java b/src/main/java/frc/robot/subsystems/ArmSubsystem.java
@@ -179,7 +179,7 @@ public void periodic() {
 
         }
 
-        double pidOut = MBUtils.clamp(pidController.calculate(getRIODutyCycleRad()),0.3);
+        double pidOut = MBUtils.clamp(pidController.calculate(getRIODutyCycleRad()),0.5);
 armMaster.set(pidOut);
     //    SmartDashboard.putNumber("armRIO-PID out",pidOut);
     //    SmartDashboard.putNumber("armRIO-PWM rad",getRIODutyCycleRad());