From 780bfeb5a3037553a4a0fd9319b45b0c33d8f15f Mon Sep 17 00:00:00 2001
From: DriverStationComputer <driverstation@carlmontrobotics.org>
Date: Fri, 13 Oct 2023 19:44:27 -0700
Subject: [PATCH] Changed armMotorPort to 2

---
 src/main/deploy/pathplanner/Side Basic 2.path | 27 ++++++++++++++++++-
 .../robotcode2023/Constants.java              |  4 +--
 2 files changed, 28 insertions(+), 3 deletions(-)

diff --git a/src/main/deploy/pathplanner/Side Basic 2.path b/src/main/deploy/pathplanner/Side Basic 2.path
index 3953e171..2ad17e54 100644
--- a/src/main/deploy/pathplanner/Side Basic 2.path	
+++ b/src/main/deploy/pathplanner/Side Basic 2.path	
@@ -112,7 +112,10 @@
         "x": 1.6192012415153803,
         "y": 0.94
       },
-      "nextControl": null,
+      "nextControl": {
+        "x": 2.3007987584846195,
+        "y": 0.94
+      },
       "holonomicAngle": 0,
       "isReversal": false,
       "velOverride": null,
@@ -126,6 +129,28 @@
         "waitBehavior": "none",
         "waitTime": 0
       }
+    },
+    {
+      "anchorPoint": {
+        "x": 1.9145106861642298,
+        "y": 1.073605718640009
+      },
+      "prevControl": {
+        "x": 2.1076547223244244,
+        "y": 1.0068028593200045
+      },
+      "nextControl": null,
+      "holonomicAngle": 0,
+      "isReversal": false,
+      "velOverride": null,
+      "isLocked": false,
+      "isStopPoint": false,
+      "stopEvent": {
+        "names": [],
+        "executionBehavior": "parallel",
+        "waitBehavior": "none",
+        "waitTime": 0
+      }
     }
   ],
   "markers": [
diff --git a/src/main/java/org/carlmontrobotics/robotcode2023/Constants.java b/src/main/java/org/carlmontrobotics/robotcode2023/Constants.java
index d4c6a784..737dbfdc 100644
--- a/src/main/java/org/carlmontrobotics/robotcode2023/Constants.java
+++ b/src/main/java/org/carlmontrobotics/robotcode2023/Constants.java
@@ -182,7 +182,7 @@ public static final class Arm {
         // PID
         // Arm, Wrist
         public static double[] kP = {4.2736, 4.8804}; // 4.2736 for arm from sysid was tested and it worked fine (V / rad)
-        public static double[] kI = {0.1, 0}; // (V / (rad * s) )
+        public static double[] kI = {0, 0}; // (V / (rad * s) )
         public static double[] kD = {0.1, 0.90262}; // 0 for arm from sysid was tested and it worked fine (V / (rad / s) )
 
         // Arm, Wrist
@@ -241,7 +241,7 @@ public static final class Arm {
         public static final boolean[] encoderInverted = { true, true };
         public static final double rotationToRad = 2 * Math.PI;
 
-        public static final int armMotorPort = 17;
+        public static final int armMotorPort = 2;
         public static final int wristMotorPort = 19;
 
         //#endregion