need to tune pids next for arm

awtybots · Feb 23, 2024 · 3f2c222 · 3f2c222
1 parent 56ab3e8
commit 3f2c222
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diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -105,6 +105,8 @@ public static final class ArmConstants {
 
     public static final double armConversion = 0.05; // TODO TUNE
 
+    public static final double kMaxOutput = 1.0; 
+
     // Arm PID constants
     public static final double kP = 0.1; // TODO TUNE
     public static final double kI = 0.0; // TODO TUNE

diff --git a/src/main/java/frc/robot/subsystems/arm/ArmIOSparkMax.java b/src/main/java/frc/robot/subsystems/arm/ArmIOSparkMax.java
@@ -118,5 +118,6 @@ public void configurePID(double kP, double kI, double kD) {
     pid.setI(kI, 0);
     pid.setD(kD, 0);
     pid.setFF(0, 0);
+    pid.setOutputRange(-ArmConstants.kMaxOutput, ArmConstants.kMaxOutput);
   }
 }