Buttons PId fixed

Author: AmeliaFRC

src/main/java/frc/robot/Constants.java

@@ -26,8 +26,8 @@ public final class Constants
   public static final double MAX_SPEED  = Units.feetToMeters(14.5);
 
   // Maximum drive speed of the robot in meters per second.
-  public static final double speedMultiplier = 0.15;
-  public static final double rotationMultiplier = 0.15;
+  public static final double speedMultiplier = 0.25;
+  public static final double rotationMultiplier = 0.25;
 
 //  public static final class AutonConstants
 //  {

src/main/java/frc/robot/RobotContainer.java

@@ -231,23 +231,24 @@ private void configureBindings()
       driverXbox.b().onTrue(raiseIntakeCommand);
       driverXbox.x().whileTrue(intakeSpinCommand);
       driverXbox.y().whileTrue(intakeStopCommand);
-      // driverXbox.rightTrigger().onTrue(runIntakeCommand);
-      // driverXbox.leftTrigger().onTrue(stowIntakeCommand);
+      driverXbox.rightTrigger().onTrue(shooterMotorSubsystem.ForwordSlowSpin(0.5));
+      driverXbox.leftTrigger().whileTrue(
+          shooterMotorSubsystem.sysIdQuasistatic(Direction.kForward));
 
       driverXbox.povUp().whileTrue(
-          intakeSubsystem.sysIdQuasistatic(Direction.kForward)
+          shooterMotorSubsystem.sysIdQuasistatic(Direction.kForward)
           .onlyIf(DriverStation::isTest)
           );
       driverXbox.povDown().whileTrue(
-          intakeSubsystem.sysIdQuasistatic(Direction.kReverse)
+          shooterMotorSubsystem.sysIdQuasistatic(Direction.kReverse)
           .onlyIf(DriverStation::isTest)
           );
       driverXbox.povRight().whileTrue(
-          intakeSubsystem.sysIdDynamic(Direction.kForward)
+          shooterMotorSubsystem.sysIdDynamic(Direction.kForward)
           .onlyIf(DriverStation::isTest)
           );
       driverXbox.povLeft().whileTrue(
-          intakeSubsystem.sysIdDynamic(Direction.kReverse)
+          shooterMotorSubsystem.sysIdDynamic(Direction.kReverse)
           .onlyIf(DriverStation::isTest)
           );
     } else

src/main/java/frc/robot/subsystems/ShooterMotorSubsystem.java

@@ -41,12 +41,12 @@ public ShooterMotorSubsystem() {
         leaderConfig.closedLoop
             .feedbackSensor(FeedbackSensor.kPrimaryEncoder)
             // The PID values (kP, kI, kD)
-            .pid(0.050423, 0, 0, ClosedLoopSlot.kSlot0)
+            .pid(3.596, 0, 0, ClosedLoopSlot.kSlot0)
             // The Feedforward values (kS, kV) from SysId
             .velocityFF(0.0) // Usually set to 0 when using kS/kV directly
             .feedForward
-            .kS(0.0668, ClosedLoopSlot.kSlot0)
-            .kV(0.12175, ClosedLoopSlot.kSlot0);
+            .kS(41.367, ClosedLoopSlot.kSlot0)
+            .kV(4097.7, ClosedLoopSlot.kSlot0);
 
         leaderMotor.configure(leaderConfig, ResetMode.kResetSafeParameters, PersistMode.kPersistParameters);