finished elevator pid

Team334 · Mar 8, 2024 · 9e3cf76 · 9e3cf76
1 parent 0df370b
commit 9e3cf76
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Showing 2 changed files with 3 additions and 3 deletions.
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -134,14 +134,14 @@ public static class PID {
 
     public static final double SHOOTER_FLYWHEEL_KP = 0;
 
-    public static final double ELEVATOR_KP = 2.1;
+    public static final double ELEVATOR_KP = 6;
 
     public static final double SWERVE_HEADING_KP = 0.045;
     public static final double SWERVE_HEADING_KD = 0.001;
   }
 
   public static class Offsets {
-    // these aren't used anymore because cancoders can be zeroed in phoenix tuner
+    // these aren't used anymore because cancoders can be zeroed in phoenix tuner 
     // public static final double ENCODER_FRONT_LEFT = -93;
     // public static final double ENCODER_FRONT_RIGHT = -58;
     // public static final double ENCODER_BACK_RIGHT = 10;

diff --git a/src/main/java/frc/robot/subsystems/ElevatorSubsystem.java b/src/main/java/frc/robot/subsystems/ElevatorSubsystem.java
@@ -41,7 +41,7 @@ public ElevatorSubsystem() {
 
     _leftMotor.getConfigurator().apply(softLimits);
 
-    _heightController.setTolerance(0.01);
+    _heightController.setTolerance(0.005);
 
     SmartDashboard.putData("ELEVATOR PID", _heightController);
   }