From 30d229f59fa65f911e555003b307d42ec7d2e8e2 Mon Sep 17 00:00:00 2001
From: Liam Murray <liammurray2015@icloud.com>
Date: Thu, 21 Dec 2023 19:43:35 -0500
Subject: [PATCH] changed the p in pid

---
 src/main/java/frc/robot/maps/Valkyrie.java | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/java/frc/robot/maps/Valkyrie.java b/src/main/java/frc/robot/maps/Valkyrie.java
index 3bf3e74..e28429e 100644
--- a/src/main/java/frc/robot/maps/Valkyrie.java
+++ b/src/main/java/frc/robot/maps/Valkyrie.java
@@ -91,7 +91,7 @@ public SwerveDriveMap getDriveMap() {
 
         // Configuration for MK4 with L2 speeds
         Configuration MK4_V2 = new Configuration(SDSSwerveModule.MK4_V2.gearRatio,
-                SDSSwerveModule.MK4_V2.wheelDiameter, new PIDValues(0.011, 0.00, 0.0002));
+                SDSSwerveModule.MK4_V2.wheelDiameter, new PIDValues(0.004, 0.00, 0.0002));
 
         // All Distances are in Meters
         // Front Left Module