Download the file titled PIDF.java and place it on your team code. This utility will help you find the values that fit best your motor.
NOTE: This file cannot be used on onBot Java because it requires that we the dashboard library which is only available on AndroidStudio
Step 1: Set MOTOR_NAME with the config name for your shooter motor
Step 2: Set highVelocity to the RPM velocity that you need to consistenlty shoot at
Step 3: Connect your laptop/desktop to your controller hub wifi and its' ip http://192.168.43.1:8080
Step 4: Tune in the following order F, P, and I. In our scenario we don't need to tune D.