From 2f33075bcdb5c821a297bfc570bdeae3c05c56e9 Mon Sep 17 00:00:00 2001
From: FriedLongJohns <81837862+FriedLongJohns@users.noreply.github.com>
Date: Tue, 5 Mar 2024 16:17:33 -0800
Subject: [PATCH] rename and use sensible izone number

---
 src/main/java/org/carlmontrobotics/Constants.java      | 2 +-
 src/main/java/org/carlmontrobotics/subsystems/Arm.java | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/main/java/org/carlmontrobotics/Constants.java b/src/main/java/org/carlmontrobotics/Constants.java
index d307066a..dbd253a4 100644
--- 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
index b465a703..83228e79 100644
--- 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);