From 9b4ce4c26d13e1edda6eaeceb16a2ace805525ae Mon Sep 17 00:00:00 2001
From: Isaac Thoman <isaacthoman@proton.me>
Date: Tue, 5 Mar 2024 12:26:21 -0500
Subject: [PATCH] add missing table point

---
 src/main/java/frc/robot/Constants.java         | 18 +++++++++---------
 .../frc/robot/subsystems/ArmSubsystem.java     |  2 +-
 2 files changed, 10 insertions(+), 10 deletions(-)

diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index 7d53f59..0a0d8f8 100644
--- 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
index 5e9b100..69a57da 100644
--- 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());