From aa2cc468e6399c4c32be74681492c476b4f3381a Mon Sep 17 00:00:00 2001 From: MattD8957 Date: Fri, 22 Mar 2024 07:31:01 -0400 Subject: [PATCH] [#476] Encoder Offset --- src/main/java/frc/robot/Constants.java | 5 ++--- src/main/java/frc/robot/subsystems/Climber.java | 2 +- 2 files changed, 3 insertions(+), 4 deletions(-) diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index 30f50263..6234cc7c 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -517,13 +517,12 @@ 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 index 6baba0ed..3ed9e5b6 100644 --- 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(); }