From c0afd4fe06ad0fd7d5090307715d0d41b74d94a0 Mon Sep 17 00:00:00 2001 From: ShmayaR Date: Mon, 8 Sep 2025 09:52:14 +0300 Subject: [PATCH 1/2] updated position for arm and intake --- src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java | 2 +- .../frc/trigon/robot/subsystems/intake/IntakeConstants.java | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java index 197dfc7e..9ce5361f 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java @@ -110,7 +110,7 @@ public class ArmConstants { ); static final Pose3d ARM_VISUALIZATION_ORIGIN_POINT = new Pose3d( - new Translation3d(0, 0.0954, 0.9517), + new Translation3d(0, -0.0954, 0.9517), new Rotation3d(0, 0, 0) ); diff --git a/src/main/java/frc/trigon/robot/subsystems/intake/IntakeConstants.java b/src/main/java/frc/trigon/robot/subsystems/intake/IntakeConstants.java index 560d9c9f..eb47449c 100644 --- a/src/main/java/frc/trigon/robot/subsystems/intake/IntakeConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/intake/IntakeConstants.java @@ -93,7 +93,7 @@ public class IntakeConstants { ); static final Pose3d INTAKE_VISUALIZATION_ORIGIN_POINT = new Pose3d( - new Translation3d(0, 0.29449, 0.32349), + new Translation3d(0.3234, 0, 0.2944), new Rotation3d(0, MINIMUM_ANGLE.getRadians(), 0) ); private static final double MAXIMUM_DISPLAYABLE_VELOCITY = 12; From e7b1ef0ab370fc559d7233953e38bc9d43615d78 Mon Sep 17 00:00:00 2001 From: ShmayaR Date: Mon, 8 Sep 2025 09:57:48 +0300 Subject: [PATCH 2/2] Update IntakeConstants.java --- .../frc/trigon/robot/subsystems/intake/IntakeConstants.java | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/intake/IntakeConstants.java b/src/main/java/frc/trigon/robot/subsystems/intake/IntakeConstants.java index eb47449c..24f842eb 100644 --- a/src/main/java/frc/trigon/robot/subsystems/intake/IntakeConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/intake/IntakeConstants.java @@ -94,8 +94,9 @@ public class IntakeConstants { static final Pose3d INTAKE_VISUALIZATION_ORIGIN_POINT = new Pose3d( new Translation3d(0.3234, 0, 0.2944), - new Rotation3d(0, MINIMUM_ANGLE.getRadians(), 0) + new Rotation3d(0, -2.28, 0) ); + private static final double MAXIMUM_DISPLAYABLE_VELOCITY = 12; static final SpeedMechanism2d INTAKE_MECHANISM = new SpeedMechanism2d( "IntakeMechanism",