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May 24 #188

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Merged
merged 2 commits into from
May 26, 2023
Merged

May 24 #188

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162dfe6
Add tuning values
May 24, 2023
d620ae6
Move arm motor back to tower
May 24, 2023
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6 changes: 3 additions & 3 deletions src/main/java/com/stuypulse/robot/constants/Settings.java
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Original file line number Diff line number Diff line change
Expand Up @@ -121,7 +121,7 @@ public interface Drive {

public interface FrontRight {
String ID = "Front Right";
Rotation2d ABSOLUTE_OFFSET = Rotation2d.fromDegrees(357.213206) // recalibrated 4/21
Rotation2d ABSOLUTE_OFFSET = Rotation2d.fromDegrees(357.213206) // recalibrated 4/21
.plus(Rotation2d.fromDegrees(0));
Translation2d MODULE_OFFSET = new Translation2d(WIDTH * +0.5, LENGTH * -0.5);
}
Expand All @@ -142,7 +142,7 @@ public interface BackLeft {

public interface BackRight {
String ID = "Back Right";
Rotation2d ABSOLUTE_OFFSET = Rotation2d.fromDegrees(6.342437) // recalibrated 4/21
Rotation2d ABSOLUTE_OFFSET = Rotation2d.fromDegrees(7.748473) // recalibrated 5/24
.plus(Rotation2d.fromDegrees(90));
Translation2d MODULE_OFFSET = new Translation2d(WIDTH * -0.5, LENGTH * -0.5);
}
Expand Down Expand Up @@ -237,7 +237,7 @@ public interface Wrist {
MOI,
RADIUS);

Rotation2d ZERO_ANGLE = Rotation2d.fromRotations(0.662482 + 60.0/360.0).plus(Rotation2d.fromDegrees(180));
Rotation2d ZERO_ANGLE = Rotation2d.fromRotations(0.662482).plus(Rotation2d.fromDegrees(120));

SmartNumber TELEOP_MAX_VELOCITY = new SmartNumber("Arm/Wrist/Teleop Max Velocity (deg)", 480.0);
SmartNumber TELEOP_MAX_ACCELERATION = new SmartNumber("Arm/Wrist/Teleop Max Acceleration (deg)", 480.0);
Expand Down