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lines changed Original file line number Diff line number Diff line change @@ -130,13 +130,13 @@ public static final class CoralWristConstants {
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public static final AngularVelocity kVelocityConversionFactor =
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Rotations .of (gearRatioEncoderToArm ).per (Minute );
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- public static final double kG = 1.1 ; // Found empirically 2/22/2025
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- public static final double kS = 0.3 ; // Found empirically 2/22/2025
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+ public static final double kG = 0.55 ; // Found empirically 2/22/2025
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+ public static final double kS = 0.15 ; // Found empirically 2/22/2025
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public static final double kV = (12.0 - kS ) / maxArmVelocityTheoretical .in (RadiansPerSecond );
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- public static final double kP = 6 .0 ;
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- public static final double kI = 5 .0 ;
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- public static final double kD = 0.03 ;
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+ public static final double kP = 8 .0 ;
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+ public static final double kI = 0 .0 ;
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+ public static final double kD = 0.0 ;
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public static final Angle kIZone = Degrees .of (30.0 );
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public static enum CoralWristState {
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