From 5ea8b8eeac150b70afe9f6cf76e55239c447de02 Mon Sep 17 00:00:00 2001
From: Brandon <83319404+BrandonS09@users.noreply.github.com>
Date: Mon, 4 Mar 2024 23:08:58 +0000
Subject: [PATCH] RAD

---
 src/main/java/org/carlmontrobotics/Constants.java  | 14 +++++++-------
 .../java/org/carlmontrobotics/RobotContainer.java  | 14 +++++++-------
 2 files changed, 14 insertions(+), 14 deletions(-)

diff --git a/src/main/java/org/carlmontrobotics/Constants.java b/src/main/java/org/carlmontrobotics/Constants.java
index 84ba707d..a850579e 100644
--- a/src/main/java/org/carlmontrobotics/Constants.java
+++ b/src/main/java/org/carlmontrobotics/Constants.java
@@ -44,13 +44,13 @@ public static final class Arm {
 		//TODO: finish understand why this is broken public static final Measure<Angle> INTAKE_ANGLE = Degrees.to(-1);
 
 		// USE RADIANS FOR THE ARM
-		public static final double INTAKE_ANGLE = Units.degreesToRadians(0);
-		public static final double AMP_ANGLE = Units.degreesToRadians(105);
-		public static final double SUBWOFFER_ANGLE = Units.degreesToRadians(24);
-		public static final double SAFE_ZONE_ANGLE = Units.degreesToRadians(24);
-		public static final double PODIUM_ANGLE = Units.degreesToRadians(24);
-		public static final double CLIMBER_UP_ANGLE = Units.degreesToRadians(24);
-		public static final double CLIMBER_DOWN_ANGLE = Units.degreesToRadians(24);
+		public static final double INTAKE_ANGLE_RAD = Units.degreesToRadians(0);
+		public static final double AMP_ANGLE_RAD = Units.degreesToRadians(105);
+		public static final double SUBWOFFER_ANGLE_RAD = Units.degreesToRadians(24);
+		public static final double SAFE_ZONE_ANGLE_RAD = Units.degreesToRadians(24);
+		public static final double PODIUM_ANGLE_RAD = Units.degreesToRadians(24);
+		public static final double CLIMBER_UP_ANGLE_RAD = Units.degreesToRadians(24);
+		public static final double CLIMBER_DOWN_ANGLE_RAD = Units.degreesToRadians(24);
 
 
 		//PID, Feedforward, Trapezoid
diff --git a/src/main/java/org/carlmontrobotics/RobotContainer.java b/src/main/java/org/carlmontrobotics/RobotContainer.java
index 822c71b1..5757bb34 100644
--- a/src/main/java/org/carlmontrobotics/RobotContainer.java
+++ b/src/main/java/org/carlmontrobotics/RobotContainer.java
@@ -77,15 +77,15 @@ private void setBindingsManipulator() {
     //right joystick used for manual arm control
 
     // Speaker Buttons
-    new JoystickButton(manipulatorController, Constants.OI.Manipulator.RAISE_TO_SPEAKER_POD_BUTTON).onTrue(new InstantCommand(() -> {arm.setArmTarget(PODIUM_ANGLE);}));
-    new JoystickButton(manipulatorController, Constants.OI.Manipulator.RAISE_TO_SPEAKER_NEXT_BUTTON).onTrue(new InstantCommand(() -> {arm.setArmTarget(SUBWOFFER_ANGLE);}));
-    new JoystickButton(manipulatorController, Constants.OI.Manipulator.RAISE_TO_SPEAKER_SAFE_BUTTON).onTrue(new InstantCommand(() -> {arm.setArmTarget(SAFE_ZONE_ANGLE);}));
+    new JoystickButton(manipulatorController, Constants.OI.Manipulator.RAISE_TO_SPEAKER_POD_BUTTON).onTrue(new InstantCommand(() -> {arm.setArmTarget(PODIUM_ANGLE_RAD);}));
+    new JoystickButton(manipulatorController, Constants.OI.Manipulator.RAISE_TO_SPEAKER_NEXT_BUTTON).onTrue(new InstantCommand(() -> {arm.setArmTarget(SUBWOFFER_ANGLE_RAD);}));
+    new JoystickButton(manipulatorController, Constants.OI.Manipulator.RAISE_TO_SPEAKER_SAFE_BUTTON).onTrue(new InstantCommand(() -> {arm.setArmTarget(SAFE_ZONE_ANGLE_RAD);}));
     // Amp and Intake Buttons
-    new JoystickButton(manipulatorController, Constants.OI.Manipulator.RAISE_TO_AMP_BUTTON).onTrue(new InstantCommand(() -> {arm.setArmTarget(AMP_ANGLE);}));
-    new JoystickButton(manipulatorController, Constants.OI.Manipulator.RAISE_TO_GROUND_BUTTON).onTrue(new InstantCommand(() -> {arm.setArmTarget(INTAKE_ANGLE);}));
+    new JoystickButton(manipulatorController, Constants.OI.Manipulator.RAISE_TO_AMP_BUTTON).onTrue(new InstantCommand(() -> {arm.setArmTarget(AMP_ANGLE_RAD);}));
+    new JoystickButton(manipulatorController, Constants.OI.Manipulator.RAISE_TO_GROUND_BUTTON).onTrue(new InstantCommand(() -> {arm.setArmTarget(INTAKE_ANGLE_RAD);}));
     // Cimber Buttons
-    new JoystickButton(manipulatorController, Constants.OI.Manipulator.RAISE_TO_CLIMBER_BUTTON).onTrue(new InstantCommand(() -> {arm.setArmTarget(CLIMBER_UP_ANGLE);}));
-    new JoystickButton(manipulatorController, Constants.OI.Manipulator.LOWER_TO_CLIMBER_BUTTON).onTrue(new InstantCommand(() -> {arm.setArmTarget(CLIMBER_DOWN_ANGLE);}));
+    new JoystickButton(manipulatorController, Constants.OI.Manipulator.RAISE_TO_CLIMBER_BUTTON).onTrue(new InstantCommand(() -> {arm.setArmTarget(CLIMBER_UP_ANGLE_RAD);}));
+    new JoystickButton(manipulatorController, Constants.OI.Manipulator.LOWER_TO_CLIMBER_BUTTON).onTrue(new InstantCommand(() -> {arm.setArmTarget(CLIMBER_DOWN_ANGLE_RAD);}));
   }
 
   public Command getAutonomousCommand() {