skib

Talon540Programming · Jan 27, 2025 · dff9279 · dff9279
1 parent 276e05c
commit dff9279
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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
@@ -6,7 +6,7 @@
 public class Constants {
   private static RobotType kRobotType = RobotType.ROBOT_2025_COMP;
   // Allows tunable values to be changed when enabled. Also adds tunable selectors to AutoSelector
-  public static final boolean TUNING_MODE = false;
+  public static final boolean TUNING_MODE = true;
   // Disable the AdvantageKit logger from running
   public static final boolean ENABLE_LOGGING = true;
 

diff --git a/src/main/java/frc/robot/subsystems/drive/Module.java b/src/main/java/frc/robot/subsystems/drive/Module.java
@@ -30,8 +30,8 @@ public class Module {
         drivekV.initDefault(0.12941);
         drivekP.initDefault(0.005);
         drivekD.initDefault(0.0);
-        turnkP.initDefault(4000.0);
-        turnkD.initDefault(50.0);
+        turnkP.initDefault(2.0);
+        turnkD.initDefault(0.05);
       }
       default -> {
         drivekS.initDefault(0.11400);