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Portsmouth day0 test (#110)
* changed coral wrist D * tuned coral wrist PID and feedforward
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src/main/java/frc/robot/elevator/ElevatorConstants.java

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@@ -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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