changes to PID

2025-11-28 19:21:54 -06:00
parent b0bc7b7b5b
commit 4bbe5f218c
1 changed files with 7 additions and 4 deletions
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tests/ShooterTest.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tests/ShooterTest.java
@@ -44,6 +44,8 @@ public class ShooterTest extends LinearOpMode {

    public static boolean intake = true;

+    public static int tolerance = 50;
+
    public static double kP = 0.0005;           // small proportional gain (tune this)
    public static double maxStep = 0.06;         // prevents sudden jumps

@@ -120,6 +122,7 @@ public class ShooterTest extends LinearOpMode {
            powPID = Math.max(0, Math.min(1, powPID));
            shooter.setVelocity(powPID);

+
            if (shoot){
                robot.transferServo.setPosition(transferServo_in);
            } else {