Update Arm.java

ShmayaR · ShmayaR · commit 5bf81942e135 · 2025-09-19T01:40:07.000+03:00
diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java
@@ -178,7 +178,7 @@ private boolean atAngle(Rotation2d targetAngle) {
     }
 
     private static Rotation2d subtractFrom360Degrees(Rotation2d angleToSubtract) {
-        return Rotation2d.fromDegrees(360 - angleToSubtract.getDegrees());
+        return Rotation2d.fromDegrees(Rotation2d.k180deg.getDegrees() * 2 - angleToSubtract.getDegrees());
     }
 
     private Pose3d calculateVisualizationPose() {

Original file line number	Diff line number	Diff line change
`@@ -178,7 +178,7 @@ private boolean atAngle(Rotation2d targetAngle) {`
`178`	`178`	`}`
`179`	`179`
`180`	`180`	`private static Rotation2d subtractFrom360Degrees(Rotation2d angleToSubtract) {`
`181`		`- return Rotation2d.fromDegrees(360 - angleToSubtract.getDegrees());`
	`181`	`+ return Rotation2d.fromDegrees(Rotation2d.k180deg.getDegrees() * 2 - angleToSubtract.getDegrees());`
`182`	`182`	`}`
`183`	`183`
`184`	`184`	`private Pose3d calculateVisualizationPose() {`