From 0dae165e525ce9ded0a78e78cb8d4a7efa17461f Mon Sep 17 00:00:00 2001 From: BenGamer3 Date: Thu, 2 Apr 2026 19:05:46 -0400 Subject: [PATCH 1/2] changed to estimate of new turret position --- .../java/frc/robot/subsystems/launcher/LauncherConstants.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/subsystems/launcher/LauncherConstants.java b/src/main/java/frc/robot/subsystems/launcher/LauncherConstants.java index 7fb9e4d2..36c7b08f 100644 --- a/src/main/java/frc/robot/subsystems/launcher/LauncherConstants.java +++ b/src/main/java/frc/robot/subsystems/launcher/LauncherConstants.java @@ -77,7 +77,7 @@ public final class LauncherConstants { public static final class TurretConstants { // Geometry public static final Transform3d chassisToTurretBase = - new Transform3d(Inches.of(-2.271), Inches.of(-4.959), Inches.of(16.331), Rotation3d.kZero); + new Transform3d(Inches.of(-4.000), Inches.of(6.500), Inches.of(16.331), Rotation3d.kZero); public static final Rotation2d absEncoderOffset = new Rotation2d(5.157); public static final Rotation2d mechanismOffset = Rotation2d.kZero; public static final double upperLimitRad = Units.degreesToRadians(270); From 0465504b4969006409022017cc9c8098a8cdfbc6 Mon Sep 17 00:00:00 2001 From: BenGamer3 Date: Thu, 2 Apr 2026 19:26:23 -0400 Subject: [PATCH 2/2] found why advantagekit was not working. simMode was set to REPLAY, not SIM. i do not know the reason why. i just updated it so simulation would work --- src/main/java/frc/robot/Constants.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index 7eb374fa..2aac87ec 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -25,7 +25,7 @@ * (log replay from a file). */ public final class Constants { - public static final Mode simMode = Mode.REPLAY; + public static final Mode simMode = Mode.SIM; public static final Mode currentMode = RobotBase.isReal() ? Mode.REAL : simMode; public static enum Mode {