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Retune shoulder joint
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Minimize chance of self-destruction
jwbonner committed Jan 8, 2025
1 parent 9884d13 commit 1759ecc
Showing 1 changed file with 2 additions and 2 deletions.
Original file line number Diff line number Diff line change
@@ -139,9 +139,9 @@ public class Arm extends SubsystemBase {
if (!Constants.disableHAL) { // Don't run during trajectory cache generation
switch (Constants.getRobot()) {
case ROBOT_2023C:
shoulderKp.initDefault(16.0);
shoulderKp.initDefault(4.0);
shoulderKd.initDefault(0.25);
shoulderKs.initDefault(0.5);
shoulderKs.initDefault(0.2);
shoulderKsDeadband.initDefault(0.05);
elbowKp.initDefault(13.0);
elbowKd.initDefault(0.3);

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