From fbe9c1f72883f1bd1b21356b54ac5d0bf7a4d7ad Mon Sep 17 00:00:00 2001
From: Dark-303 <156324532+Dark-303@users.noreply.github.com>
Date: Tue, 21 Jan 2025 17:22:22 -0500
Subject: [PATCH] Tuned pid and accel

---
 .../java/frc/robot/subsystems/intake/IntakeIOSim.java     | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/src/main/java/frc/robot/subsystems/intake/IntakeIOSim.java b/src/main/java/frc/robot/subsystems/intake/IntakeIOSim.java
index c9c9c29..a3c9528 100644
--- a/src/main/java/frc/robot/subsystems/intake/IntakeIOSim.java
+++ b/src/main/java/frc/robot/subsystems/intake/IntakeIOSim.java
@@ -16,7 +16,7 @@ public class IntakeIOSim implements IntakeIO {
   private TrapezoidProfile.State armGoal;
 
   private final TrapezoidProfile.Constraints armConstraints =
-      new TrapezoidProfile.Constraints(100, 500);
+      new TrapezoidProfile.Constraints(200, 50);
 
   private final TrapezoidProfile armProfile = new TrapezoidProfile(armConstraints);
 
@@ -29,15 +29,15 @@ public class IntakeIOSim implements IntakeIO {
   private final SingleJointedArmSim armSim =
       new SingleJointedArmSim(
           DCMotor.getKrakenX60Foc(1),
-          45,
-          3.67,
+          20,
+          2,
           0.5,
           Units.degreesToRadians(0),
           Units.degreesToRadians(90),
           false,
           Units.degreesToRadians(90)); // Custom arm motor simulation
 
-  private final PIDController armPositionPID = new PIDController(70, 1, 0);
+  private final PIDController armPositionPID = new PIDController(6.54, 0, 0.001);
   private double applied_volts = 0.0;
 
   @Override