rename and use sensible izone number

DeepBlueRobotics · Mar 6, 2024 · 2f33075 · 2f33075
1 parent 54b28c8
commit 2f33075
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diff --git a/src/main/java/org/carlmontrobotics/Constants.java b/src/main/java/org/carlmontrobotics/Constants.java
@@ -62,7 +62,7 @@ public static final class Arm {
 		public static final double kG = 0.1;
 		public static final double kV = 0.1;
 		public static final double kA = 0.1;
-		public static final double IZONE = 4;
+		public static final double IZONE_RAD = .8;
 		public static final double MAX_FF_VEL_RAD_P_S = 0.8; // rad / s
 		public static final double MAX_FF_ACCEL_RAD_P_S = 1; // rad / s^2
 

diff --git a/src/main/java/org/carlmontrobotics/subsystems/Arm.java b/src/main/java/org/carlmontrobotics/subsystems/Arm.java
@@ -103,7 +103,7 @@ public Arm() {
         armPIDMaster.setPositionPIDWrappingEnabled(true);
         armPIDMaster.setPositionPIDWrappingMinInput(LOWER_ANGLE_LIMIT_RAD);
         armPIDMaster.setPositionPIDWrappingMaxInput(UPPER_ANGLE_LIMIT_RAD);
-        armPIDMaster.setIZone(IZONE)
+        armPIDMaster.setIZone(IZONE_RAD)
 
         SmartDashboard.putData("Arm", this);