retunr flywheel pid

thedropbears · May 23, 2024 · 4bf8d4b · 4bf8d4b
1 parent c8e6d79
commit 4bf8d4b
Showing 1 changed file with 4 additions and 4 deletions.
diff --git a/components/shooter.py b/components/shooter.py
@@ -93,12 +93,12 @@ def __init__(self) -> None:
 
         flywheel_pid = (
             Slot0Configs()
-            .with_k_p(0.41377)
+            .with_k_p(0.17487)
             .with_k_i(0)
             .with_k_d(0)
-            .with_k_s(0.31461)
-            .with_k_v(0.097173)
-            .with_k_a(0.013103)
+            .with_k_s(0.32193)
+            .with_k_v(0.096182)
+            .with_k_a(0.0096935)
         )
 
         flywheel_gear_ratio = FeedbackConfigs().with_sensor_to_mechanism_ratio(