switch the parks max run into can wire issue

Author: DriverStationComputer

src/main/java/org/carlmontrobotics/Constants.java

@@ -241,8 +241,7 @@ public static final class Drivetrainc {
 		// kP, kI, and kD constants for turn motor controllers in the order of
 		// front-left, front-right, back-left, back-right.
 		// Determine correct turn PID constants
-		public static final double[] turnkP = { 51.078, 60.885, 60.946, 60.986 }; // {0.00374, 0.00374, 0.00374,
-																					// 0.00374};
+		public static final double[] turnkP = { 0.00374, 0.00374, 0.00374, 0.00374 };
 		public static final double[] turnkI = { 0, 0, 0, 0 };
 		public static final double[] turnkD = { 0/* dont edit */, 0.5, 0.42, .5 }; // todo: use d
 		// public static final double[] turnkS = {0.2, 0.2, 0.2, 0.2};
@@ -305,15 +304,15 @@ public static final class Drivetrainc {
 
 		// #region Ports
 
-		public static final int driveFrontLeftPort = CONFIG.isSwimShady() ? 8 : 11; //
-		public static final int driveFrontRightPort = CONFIG.isSwimShady() ? 13 : 19; //
-		public static final int driveBackLeftPort = CONFIG.isSwimShady() ? 5 : 14; //
-		public static final int driveBackRightPort = CONFIG.isSwimShady() ? 11 : 17; // correct
+		public static final int driveFrontLeftPort = CONFIG.isSwimShady() ? 1 : 11; //
+		public static final int driveFrontRightPort = CONFIG.isSwimShady() ? 2 : 19; //
+		public static final int driveBackLeftPort = CONFIG.isSwimShady() ? 3 : 14; //
+		public static final int driveBackRightPort = CONFIG.isSwimShady() ? 4 : 17; // correct
 
-		public static final int turnFrontLeftPort = CONFIG.isSwimShady() ? 7 : 12; //
-		public static final int turnFrontRightPort = CONFIG.isSwimShady() ? 14 : 20; // 20
-		public static final int turnBackLeftPort = CONFIG.isSwimShady() ? 6 : 15; //
-		public static final int turnBackRightPort = CONFIG.isSwimShady() ? 12 : 16; // correct
+		public static final int turnFrontLeftPort = CONFIG.isSwimShady() ? 11 : 12; //
+		public static final int turnFrontRightPort = CONFIG.isSwimShady() ? 12 : 20; // 20
+		public static final int turnBackLeftPort = CONFIG.isSwimShady() ? 13 : 15; //
+		public static final int turnBackRightPort = CONFIG.isSwimShady() ? 14 : 16; // correct
 
 		public static final int canCoderPortFL = CONFIG.isSwimShady() ? 4 : 0;
 		public static final int canCoderPortFR = CONFIG.isSwimShady() ? 2 : 3;

src/main/java/org/carlmontrobotics/subsystems/Drivetrain.java

@@ -108,6 +108,7 @@ public Drivetrain() {
         // SmartDashboard.putNumber("set x", 0);
         // SmartDashboard.putNumber("set y", 0);
         // Calibrate Gyro
+
         {
 
             double initTimestamp = Timer.getFPGATimestamp();
@@ -208,7 +209,7 @@ public Drivetrain() {
             }
 
             SmartDashboard.putData("Field", field);
-
+            turnMotors[3].set(0.2);
             // for(CANSparkMax driveMotor : driveMotors)
             // driveMotor.setSmartCurrentLimit(80);
 
@@ -231,6 +232,7 @@ public Drivetrain() {
 
     @Override
     public void simulationPeriodic() {
+        System.out.print("Mooooooooonkey" + turnMotors[3].getOutputCurrent());
         for (var moduleSim : moduleSims) {
             moduleSim.update();
         }