From dff06cca924b7ed5ca254688007c33419089df09 Mon Sep 17 00:00:00 2001
From: Jestin VanScoyoc <31118852+JediScoy@users.noreply.github.com>
Date: Wed, 27 Mar 2024 17:01:39 -0400
Subject: [PATCH] Update flywheel PID constants in ShooterSubsystem2 and added
 resource

---
 src/main/java/frc/robot/subsystems/ShooterSubsystem2.java | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/src/main/java/frc/robot/subsystems/ShooterSubsystem2.java b/src/main/java/frc/robot/subsystems/ShooterSubsystem2.java
index 266de42..037e82f 100644
--- a/src/main/java/frc/robot/subsystems/ShooterSubsystem2.java
+++ b/src/main/java/frc/robot/subsystems/ShooterSubsystem2.java
@@ -71,8 +71,9 @@ public ShooterSubsystem2() {
         var flywheelConfigs0 = new Slot0Configs();        
             flywheelConfigs0
                 // https://github.com/CrossTheRoadElec/Phoenix6-Examples/blob/main/java/VelocityClosedLoop/src/main/java/frc/robot/Robot.java
-                .withKP(0.10)
-                .withKI(0.00)
+                // https://docs.wpilib.org/en/latest/docs/software/advanced-controls/introduction/tuning-flywheel.html
+                .withKP(0.10) // P and V are the most important for a flywheel
+                .withKI(0.00) // Should not be needed for a flywheel
                 .withKS(0.00) // Should low for a light flywheel? Maybe the pulley strength would impact it though?
                 .withKV(0.00);