From f64c75df43b6a120074ea62ec7ab9589b9f2c1c0 Mon Sep 17 00:00:00 2001 From: Jeffery Date: Thu, 26 Sep 2024 14:41:36 -0400 Subject: [PATCH] fixed offset --- .../team449/robot2024/constants/subsystem/PivotConstants.kt | 5 +---- 1 file changed, 1 insertion(+), 4 deletions(-) diff --git a/src/main/kotlin/frc/team449/robot2024/constants/subsystem/PivotConstants.kt b/src/main/kotlin/frc/team449/robot2024/constants/subsystem/PivotConstants.kt index b21a0a2..d27e705 100644 --- a/src/main/kotlin/frc/team449/robot2024/constants/subsystem/PivotConstants.kt +++ b/src/main/kotlin/frc/team449/robot2024/constants/subsystem/PivotConstants.kt @@ -19,10 +19,7 @@ object PivotConstants { const val ENC_CHANNEL = 0 const val GEARING = 1.0 / 75.0 const val UPR = 2.0 * PI * (26.0 / 36.0) - const val OFFSET = -0.2125 + (0.150882 / UPR) + (0.829237 / UPR) - (0.012295 / UPR) + - (0.020301 / UPR) + (0.339 / UPR) - (0.050935 / UPR) - (0.033839 / UPR) + (0.719451 / UPR) + - (0.078581 / UPR) - (0.008894 / UPR) - (0.017786 / UPR) - (0.0243075 / UPR) - - (2.1740530090891848 / UPR) - (0.35254264234886784 / UPR) + const val OFFSET = - (0.3333333134651184 / UPR) const val ENC_INVERTED = true val QUAD_ENCODER = Encoder(1, 2)