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New turret pos #186

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Merged
BenGamer3 merged 2 commits into from
Apr 2, 2026
Merged

New turret pos #186

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0dae165
changed to estimate of new turret position
BenGamer3 Apr 2, 2026
0465504
found why advantagekit was not working. simMode was set to REPLAY, no…
BenGamer3 Apr 2, 2026
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2 changes: 1 addition & 1 deletion src/main/java/frc/robot/Constants.java
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Original file line number Diff line number Diff line change
Expand Up @@ -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 {
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2 changes: 1 addition & 1 deletion src/main/java/frc/robot/subsystems/launcher/LauncherConstants.java
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Expand Up @@ -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);
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