Merge branch 'main' into 29-auto-align-to-tag-using-pathfinding

frc-862 · Mar 23, 2024 · c37656f · c37656f
2 parents 0b5492d + b327522
commit c37656f
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Showing 2 changed files with 3 additions and 4 deletions.
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -522,13 +522,12 @@ public class RhapsodyPivotConstants { // TODO: get real
 
         public static final double ANGLE_TOLERANCE = 0.00208d;
 
-        public static final double ENCODER_OFFSET = -0.54008; // In rotations, was 0.282 //TODO: get real :)
+        public static final double ENCODER_OFFSET = -0.913834;//-0.54008; // In rotations
         public static final SensorDirectionValue ENCODER_DIRECTION = SensorDirectionValue.Clockwise_Positive;
         public static final double ENCODER_TO_MECHANISM_RATIO = 1d;
         public static final double ROTOR_TO_ENCODER_RATIO = 275d;
 
-        public static final double BIAS_INCREMENT = 1d; // fDegrees to bias by per button press TODO get amount to bias
-                                                        // by
+        public static final double BIAS_INCREMENT = 1d; // fDegrees to bias by per button press TODO get amount to bias by
 
         public static final double STOW_ANGLE = 27d;
 

diff --git a/src/main/java/frc/robot/subsystems/Climber.java b/src/main/java/frc/robot/subsystems/Climber.java
@@ -74,7 +74,7 @@ public Climber() {
         climbMotorL.setPosition(0d);
         climbMotorR.setPosition(0d);
 
-        // initOldLogging();
+        initOldLogging();
         initLogging();
     }