From f5b8b2fd8999672e457c7dbc880471d3bc2c0e8a Mon Sep 17 00:00:00 2001
From: Matt9150 <matthewrkruger@gmail.com>
Date: Tue, 10 Feb 2026 20:29:33 -0600
Subject: [PATCH] Tweak PID for Limelight to improve turret Aiming.

---
 .../main/java/org/firstinspires/ftc/teamcode/utils/Turret.java  | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Turret.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Turret.java
index b8b5416..cab0f48 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Turret.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Turret.java
@@ -39,7 +39,7 @@ public class Turret {
 
     public static double clampTolerance = 0.03;
     //public static double B_PID_P = 0.105, B_PID_I = 0.0, B_PID_D = 0.0125;
-    public static double B_PID_P = 0.095, B_PID_I = 0.0, B_PID_D = 0.0090;
+    public static double B_PID_P = 0.066, B_PID_I = 0.0, B_PID_D = 0.007;
     Robot robot;
     MultipleTelemetry TELE;
     Limelight3A webcam;