Fix talon PIDF scaling.

Signed-off-by: thenetworkgrinch <thenetworkgrinch@users.noreply.github.com>
BroncBotz3481 · Jan 18, 2024 · 5e47110 · 5e47110
1 parent 4e97eb5
commit 5e47110
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Showing 2 changed files with 2 additions and 8 deletions.
diff --git a/src/main/deploy/swerve/falcon/modules/pidfproperties.json b/src/main/deploy/swerve/falcon/modules/pidfproperties.json
@@ -7,10 +7,10 @@
     "iz": 0
   },
   "angle": {
-    "p": 0.138888888888,
+    "p": 100,
     "i": 0,
     "d": 0,
     "f": 0,
-    "iz": 0.00083333333
+    "iz": 0.32
   }
 }
diff --git a/src/main/java/swervelib/motors/TalonFXSwerve.java b/src/main/java/swervelib/motors/TalonFXSwerve.java
@@ -240,12 +240,6 @@ public void configureCANStatusFrames(
   @Override
   public void configurePIDF(PIDFConfig config)
   {
-    if(!isDriveMotor)
-    {
-      config.p *= 360;
-      config.i *= 360;
-      config.d *= 360;
-    }
 
     TalonFXConfigurator cfg = motor.getConfigurator();
     cfg.refresh(configuration.Slot0);