Update at 'Fri Sep 27 19:35:06 PDT 2024'

flamingchickens1540 · Sep 28, 2024 · 31e06bc · 31e06bc
1 parent d784c8c
commit 31e06bc
Showing 1 changed file with 4 additions and 0 deletions.
diff --git a/src/main/java/org/team1540/robot2024/commands/drivetrain/DriveWithTargetingCommand.java b/src/main/java/org/team1540/robot2024/commands/drivetrain/DriveWithTargetingCommand.java
@@ -50,6 +50,10 @@ public void initialize() {
 
     @Override
     public void execute() {
+        if (Constants.isTuningMode()) {
+            rotController.setPID(kP.get(), kI.get(), kD.get());
+        }
+
         Rotation2d targetRot =
                 drivetrain.getPose()
                         .minus(target.get()).getTranslation().getAngle()