lmfao

MiamiBeachBots · Feb 28, 2024 · e52a610 · e52a610
1 parent 03df9c4
commit e52a610
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Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -62,9 +62,9 @@ public static final class CANConstants {
   public static final double ARMENCODEROFFSET = -2.2;
   public static final double ARMSTARTINGANGLE = 22.5 + ARMENCODEROFFSET; // WHY MaTH HURT
   public static final double ARMMINRELATVESTART = 0.0;
-  public static final double ARMLOADANGLE = 50 - ARMSTARTINGANGLE;
-  public static final double ARMSPEAKERANGLE = 75 - ARMSTARTINGANGLE; // to go to 75 you just put 75
-  public static final double ARMAMPANGLE = 98 - ARMSTARTINGANGLE;
+  public static final double ARMLOADANGLE = 45 - ARMSTARTINGANGLE;
+  public static final double ARMSPEAKERANGLE = 65 - ARMSTARTINGANGLE; // to go to 75 you just put 75
+  public static final double ARMAMPANGLE = 100 - ARMSTARTINGANGLE;
   public static final double ARMMAXRELATIVE = 100 - ARMSTARTINGANGLE;
   // Shooter Speeds (M/s)
   public static final double SHOOTERSOURCE = -6.0;

diff --git a/src/main/java/frc/robot/subsystems/ArmSubsystem.java b/src/main/java/frc/robot/subsystems/ArmSubsystem.java
@@ -193,7 +193,7 @@ public void MoveArmToPosition(double radians) {
     // add minimum starting angle to the target angle to get the real angle
     double final_radians = Math.max(radians, kMinArmAngleRadians);
     final_radians = Math.min(final_radians, kMaxArmAngleRadians);
-    if (final_radians != (m_goal.position - m_curOffset))) {
+    if (final_radians != (m_goal.position - m_curOffset)) {
       m_newGoal = true;
       resetOffset();
     }