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change 2025 encoder offsets

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This commit is contained in:
Michael Mikovsky
2025-02-15 14:08:51 -07:00
parent 99a61738e2
commit 7a2126a2de
2 changed files with 6 additions and 5 deletions
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.vscode/settings.json
Vendored
+2 -1
View File
@@ -57,5 +57,6 @@
"edu.wpi.first.math.**.proto.*",
"edu.wpi.first.math.**.struct.*",
],
"java.jdt.ls.vmargs": "-XX:+UseParallelGC -XX:GCTimeRatio=4 -XX:AdaptiveSizePolicyWeight=90 -Dsun.zip.disableMemoryMapping=true -Xmx2G -Xms100m -Xlog:disable"
"java.jdt.ls.vmargs": "-XX:+UseParallelGC -XX:GCTimeRatio=4 -XX:AdaptiveSizePolicyWeight=90 -Dsun.zip.disableMemoryMapping=true -Xmx2G -Xms100m -Xlog:disable",
"wpilib.autoStartRioLog": false
}
src/main/java/frc4388/robot/Constants.java
+4 -4
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@@ -106,7 +106,7 @@ public final class Constants {
public static final boolean DRIFT_CORRECTION_ENABLED = true;
public static final boolean INVERT_X = false;
public static final boolean INVERT_Y = false;
public static final boolean INVERT_Y = true;
public static final boolean INVERT_ROTATION = false;
// public static final Trim POINTLESS_TRIM = new Trim("Pointless Trim", Double.MAX_VALUE, Double.MIN_VALUE, 0.1, 0);
@@ -121,8 +121,8 @@ public final class Constants {
private static final Distance FRONT_LEFT_YPOS = Inches.of(HALF_HEIGHT);
//Front Right
private static final Angle FRONT_RIGHT_ENCODER_OFFSET = Rotations.of(0.62841796875-0.25);
private static final boolean FRONT_RIGHT_DRIVE_MOTOR_INVERTED = false;
private static final Angle FRONT_RIGHT_ENCODER_OFFSET = Rotations.of(0.62841796875-0.5);
private static final boolean FRONT_RIGHT_DRIVE_MOTOR_INVERTED = true;
private static final boolean FRONT_RIGHT_STEER_MOTOR_INVERTED = true;
private static final boolean FRONT_RIGHT_ENCODER_INVERTED = false;
private static final Distance FRONT_RIGHT_XPOS = Inches.of(HALF_WIDTH);
@@ -401,7 +401,7 @@ public final class Constants {
public static final int BASIN_LIMIT_SWITCH = 0; // TODO: FIND
public static final int ENDEFFECTOR_LIMIT_SWITCH = 1; // TODO: FIND
public static final double GEAR_RATIO_ELEVATOR = 36.0;
public static final double GEAR_RATIO_ELEVATOR = 9.0;
public static final double GROUND_POSITION_ELEVATOR = 0 * GEAR_RATIO_ELEVATOR;
public static final double WAITING_POSITION_ELEVATOR = 2 * GEAR_RATIO_ELEVATOR; // TODO: find 4-6 off the ground