From 0c513b02680cb9ba996fa3a4cc666d7d31ba0358 Mon Sep 17 00:00:00 2001 From: evan Date: Sat, 5 Mar 2022 13:59:41 -0700 Subject: [PATCH] encoder updates --- src/main/java/frc4388/robot/Constants.java | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index 4be44be..9de4a6c 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -66,10 +66,10 @@ public final class Constants { // public static final double RIGHT_BACK_ENCODER_OFFSET = 360. + 2.15 - 3.637;// // 180-2.021484375;//0.0;//134.384765625 - public static final double RIGHT_FRONT_ENCODER_OFFSET = (4 * 360. - 152.05 - 180 - 90) % 360.; - public static final double LEFT_FRONT_ENCODER_OFFSET = (4 * 360. - 232.58 + 180 - 90) % 360.; - public static final double LEFT_BACK_ENCODER_OFFSET = (4 * 360. - 189.50 - 90) % 360.; - public static final double RIGHT_BACK_ENCODER_OFFSET = (4 * 360. - 9.31 - 180 - 90) % 360.; + public static final double LEFT_FRONT_ENCODER_OFFSET = (4 * 360. - 232.6466 + 180 - 90) % 360.; + public static final double RIGHT_FRONT_ENCODER_OFFSET = (4 * 360. - 152.1265 - 180 - 90) % 360.; + public static final double LEFT_BACK_ENCODER_OFFSET = (4 * 360. - 189.4834 - 90) % 360.; + public static final double RIGHT_BACK_ENCODER_OFFSET = (4 * 360. - 9.3156 - 180 - 90) % 360.; // swerve PID constants public static final int SWERVE_SLOT_IDX = 0;