Constants

strykeforce · Apr 10, 2024 · 39ccd67 · 39ccd67
1 parent 32ecc5e
commit 39ccd67
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/src/main/java/frc/robot/constants/MagazineConstants.java b/src/main/java/frc/robot/constants/MagazineConstants.java
@@ -31,7 +31,7 @@ public static final TalonFXConfiguration getMagazineConfig() {
     TalonFXConfiguration config = new TalonFXConfiguration();
 
     Slot0Configs slot0 = new Slot0Configs();
-    slot0.kP = 0.4;
+    slot0.kP = 0.2;
     slot0.kI = 0.0;
     slot0.kD = 0.0;
     slot0.kS = 0.0;
@@ -41,7 +41,7 @@ public static final TalonFXConfiguration getMagazineConfig() {
     config.Slot0 = slot0;
 
     MotionMagicConfigs motionMagic =
-        new MotionMagicConfigs().withMotionMagicAcceleration(300).withMotionMagicJerk(5000);
+        new MotionMagicConfigs().withMotionMagicAcceleration(500).withMotionMagicJerk(5000);
     config.MotionMagic = motionMagic;
 
     config.MotorOutput.NeutralMode = NeutralModeValue.Brake;