make the allowed error tolerances 0 for the grabber and telescope

FRC3476 · Apr 14, 2023 · bf0f62a · bf0f62a
1 parent a39fe9e
commit bf0f62a
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Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -211,7 +211,7 @@ public final class Constants {
     public static final int TELESCOPING_ARM_SMART_CURRENT_LIMIT = 40;
     public static final double TELESCOPING_ARM_HOME_VOLTAGE = -1.5;
     public static final int TELESCOPING_ARM_CAN_ID = 60;
-    public static final double TELESCOPING_ARM_ALLOWED_ERROR = 0.0001;
+    public static final double TELESCOPING_ARM_ALLOWED_ERROR = 0.0000;
     public static final ArmFeedforward GRABBER_FEEDFORWARD = new ArmFeedforward(0.32, 0.34, 0, 0);
     public static final TrapezoidProfile.Constraints GRABBER_PIVOT_CONSTRAINTS
             = new TrapezoidProfile.Constraints(10, 10);

diff --git a/src/main/java/frc/subsytem/grabber/Grabber.java b/src/main/java/frc/subsytem/grabber/Grabber.java
@@ -67,7 +67,7 @@ public synchronized void update() {
         if (DriverStation.isTest()) {
             io.setPivotVoltage(Constants.GRABBER_FEEDFORWARD.calculate(Math.toRadians(inputs.pivotPosition), 0, 0));
         } else {
-            if (Math.abs(inputs.pivotPosition - state.position) > 1) {
+            if (Math.abs(inputs.pivotPosition - state.position) > 0) {
                 io.setPivotPosition(state.position, arbFFVoltage);
             } else {
                 io.setPivotVoltage(arbFFVoltage);