Team4388/2023WayOfTheRobot
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MATH.ABS

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aarav18
2023-02-13 19:16:23 -07:00
parent 1953039f7a
commit 2e7177a002
1 changed files with 2 additions and 2 deletions
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src/main/java/frc4388/robot/subsystems/Arm.java
+2 -2
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@@ -27,14 +27,14 @@ public class Arm extends SubsystemBase {
public void armSetRotation(double rot) { public void armSetRotation(double rot) {
if (rot > 1 || rot < 0) return; if (rot > 1 || rot < 0) return;
// Move arm code // 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); ArmConstants.PIVOT_FORWARD_SOFT_LIMIT);
} }
public void armSetLength(double len) { public void armSetLength(double len) {
if (len > 1 || len < 0) return; if (len > 1 || len < 0) return;
// Move arm code // 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); ArmConstants.TELE_FORWARD_SOFT_LIMIT);
} }