From d103b5477d60cadf4c582d5d15e62859562e31fc Mon Sep 17 00:00:00 2001 From: Richie Xue Date: Tue, 22 Aug 2023 14:43:19 -0400 Subject: [PATCH 1/2] Lowered kCubeFront angle for lower MoE --- .../java/com/stuypulse/robot/constants/ArmTrajectories.java | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/main/java/com/stuypulse/robot/constants/ArmTrajectories.java b/src/main/java/com/stuypulse/robot/constants/ArmTrajectories.java index 424b13bf..659810cb 100644 --- a/src/main/java/com/stuypulse/robot/constants/ArmTrajectories.java +++ b/src/main/java/com/stuypulse/robot/constants/ArmTrajectories.java @@ -67,8 +67,8 @@ public interface Mid { new SmartNumber("Arm Trajectories/Ready Mid Tip Up Back Wrist", 136)); ArmState kConeTipInBack = new ArmState( - new SmartNumber("Arm Trajectories/Ready Mid Tip In Back Shoulder", -172.694), - new SmartNumber("Arm Trajectories/Ready Mid Tip In Back Wrist", -175)); + new SmartNumber("Arm Trajectories/Ready Mid Tip In Back Shoulder", -16), + new SmartNumber("Arm Trajectories/Ready Mid Tip In Back Wrist", 176)); // -4, 0 ArmState kConeTipOutFront = new ArmState( @@ -80,7 +80,7 @@ public interface Mid { new SmartNumber("Arm Trajectories/Ready Auton Mid Cube Back/Wrist", -133)); ArmState kCubeFront = new ArmState( - new SmartNumber("Arm Trajectories/Mid Cube Front/Shoulder", -21), + new SmartNumber("Arm Trajectories/Mid Cube Front/Shoulder", -27), new SmartNumber("Arm Trajectories/Mid Cube Front/Wrist", 49)); ArmState kCubeBack = new ArmState( From bd698da92d6ab2bf465cf65f564df3952004c7a9 Mon Sep 17 00:00:00 2001 From: Richie Xue Date: Tue, 22 Aug 2023 14:50:53 -0400 Subject: [PATCH 2/2] Update ArmTrajectories.java to revert to og mid cone in --- .../java/com/stuypulse/robot/constants/ArmTrajectories.java | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/java/com/stuypulse/robot/constants/ArmTrajectories.java b/src/main/java/com/stuypulse/robot/constants/ArmTrajectories.java index 659810cb..490e8031 100644 --- a/src/main/java/com/stuypulse/robot/constants/ArmTrajectories.java +++ b/src/main/java/com/stuypulse/robot/constants/ArmTrajectories.java @@ -67,8 +67,8 @@ public interface Mid { new SmartNumber("Arm Trajectories/Ready Mid Tip Up Back Wrist", 136)); ArmState kConeTipInBack = new ArmState( - new SmartNumber("Arm Trajectories/Ready Mid Tip In Back Shoulder", -16), - new SmartNumber("Arm Trajectories/Ready Mid Tip In Back Wrist", 176)); + new SmartNumber("Arm Trajectories/Ready Mid Tip In Back Shoulder", -172.694), + new SmartNumber("Arm Trajectories/Ready Mid Tip In Back Wrist", -175)); // -4, 0 ArmState kConeTipOutFront = new ArmState(