Team4388/2023WayOfTheRobot
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This commit is contained in:
Aarav Shah
2023-01-24 18:56:07 -07:00
committed by GitHub
parent d72806ba5a
commit 3c0dce3dbd
1 changed files with 5 additions and 5 deletions
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src/main/java/frc4388/robot/subsystems/Arm.java
+5 -5
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@@ -22,13 +22,13 @@ public class Arm extends SubsystemBase {
public void armSetLength(double len) {
if (len > 1 || len < 0) return;
// Move arm code
m_armmotor.set(ControlMode.Position, len * (ArmConstants.maxArmLen - ArmConstants.minArmLen) +
ArmConstants.minArmLen);
m_armmotor.set(ControlMode.Position, len * (ArmConstants.MAX_ARM_LEN - ArmConstants.MIN_ARM_LEN) +
ArmConstants.MIN_ARM_LEN);
}
public double getArmLength() {
return (m_armmotor.getSelectedSensorPosition() - ArmConstants.minArmLen) /
(ArmConstants.maxArmLen - ArmConstants.minArmLen);
return (m_armmotor.getSelectedSensorPosition() - ArmConstants.MIN_ARM_LEN) /
(ArmConstants.MAX_ARM_LEN - ArmConstants.MIN_ARM_LEN);
}
@Override
@@ -36,4 +36,4 @@ public class Arm extends SubsystemBase {
if (m_debug)
SmartDashboard.putNumber("Arm Motor", m_armmotor.getSelectedSensorPosition());
}
}
}