izone

DeepBlueRobotics · Feb 28, 2024 · adee65f · adee65f
1 parent 6acb48c
commit adee65f
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diff --git a/src/main/java/org/carlmontrobotics/Constants.java b/src/main/java/org/carlmontrobotics/Constants.java
@@ -45,12 +45,15 @@ 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;
 		// PID Constants
 		// placeholder numbers for now
         public static final double kP = 0.1;
 		public static final double kI = 0.1;
 		public static final double kD = 0.1;
 
+
+
 		//Arm measurements - ALL OF THEM ARE PLACEHOLDERS THE NUMBERS MEAN NOTHING
 		public static final double COM_ARM_LENGTH_METERS = 0.381 ;
 		public static final double ARM_MASS_KG = 9.59302503;

diff --git a/src/main/java/org/carlmontrobotics/subsystems/Arm.java b/src/main/java/org/carlmontrobotics/subsystems/Arm.java
@@ -63,6 +63,7 @@ public Arm() {
       armPID.setI(Constants.Arm.kI);
       armPID.setD(Constants.Arm.kD);
       armPID.setFF(kV,0);
+      armPID.setIZone(IZONE); //<-- zero for now
       SmartDashboard.putNumber("kp", kP);
       SmartDashboard.putNumber("kd", kD);
       SmartDashboard.putNumber("ki", kI);