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samuel desharnais 2024-02-21 18:47:47 -05:00
parent 9f3bbd70d1
commit 75dd71f4c5
1 changed files with 4 additions and 12 deletions
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16
src/main/java/frc/robot/subsystem/Lanceur.java
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@ -49,18 +49,10 @@ public class Lanceur extends SubsystemBase {
// Mutable holder for unit-safe linear velocity values, persisted to avoid reallocation. // Mutable holder for unit-safe linear velocity values, persisted to avoid reallocation.
private final MutableMeasure<Velocity<Angle>> velocity = mutable(RotationsPerSecond.of(0)); private final MutableMeasure<Velocity<Angle>> velocity = mutable(RotationsPerSecond.of(0));
public void pidspeaker(){ public void pidspeaker(){
lanceur1.getPIDController().setP(0.5); lanceur1.getPIDController().setP(0.000006824);
lanceur1.getPIDController().setI(0.5); lanceur2.getPIDController().setP(0.0051335);
lanceur1.getPIDController().setD(0.5); lanceur3.getPIDController().setP(0.00079046);
lanceur2.getPIDController().setP(0.5); lanceur4.getPIDController().setP(0.0000049791);
lanceur2.getPIDController().setI(0.5);
lanceur2.getPIDController().setD(0.5);
lanceur3.getPIDController().setP(0.5);
lanceur3.getPIDController().setI(0.5);
lanceur3.getPIDController().setD(0.5);
lanceur4.getPIDController().setP(0.5);
lanceur4.getPIDController().setI(0.5);
lanceur4.getPIDController().setD(0.5);
} }
private final SysIdRoutine sysIdRoutine = private final SysIdRoutine sysIdRoutine =
new SysIdRoutine( new SysIdRoutine(