From 197e21d6b025e6786c6d528b044555387e6444a2 Mon Sep 17 00:00:00 2001 From: aarav18 Date: Mon, 13 Feb 2023 19:16:23 -0700 Subject: [PATCH] MATH.ABS --- src/main/java/frc4388/robot/subsystems/Arm.java | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc4388/robot/subsystems/Arm.java b/src/main/java/frc4388/robot/subsystems/Arm.java index ae7959b..23aebdc 100644 --- a/src/main/java/frc4388/robot/subsystems/Arm.java +++ b/src/main/java/frc4388/robot/subsystems/Arm.java @@ -27,14 +27,14 @@ public class Arm extends SubsystemBase { public void armSetRotation(double rot) { if (rot > 1 || rot < 0) return; // Move arm code - m_pivot.set(ControlMode.Position, rot * (ArmConstants.PIVOT_REVERSE_SOFT_LIMIT - ArmConstants.PIVOT_FORWARD_SOFT_LIMIT) + + m_pivot.set(ControlMode.Position, rot * Math.abs(ArmConstants.PIVOT_REVERSE_SOFT_LIMIT - ArmConstants.PIVOT_FORWARD_SOFT_LIMIT) + ArmConstants.PIVOT_FORWARD_SOFT_LIMIT); } public void armSetLength(double len) { if (len > 1 || len < 0) return; // Move arm code - m_tele.set(ControlMode.Position, len * (ArmConstants.TELE_REVERSE_SOFT_LIMIT - ArmConstants.TELE_FORWARD_SOFT_LIMIT) + + m_tele.set(ControlMode.Position, len * Math.abs(ArmConstants.TELE_REVERSE_SOFT_LIMIT - ArmConstants.TELE_FORWARD_SOFT_LIMIT) + ArmConstants.TELE_FORWARD_SOFT_LIMIT); }