undo bad stuff I did

DeepBlueRobotics · Mar 3, 2024 · 6b29cd6 · 6b29cd6
1 parent 8775659
commit 6b29cd6
Showing 1 changed file with 4 additions and 4 deletions.
diff --git a/src/main/java/org/carlmontrobotics/subsystems/Arm.java b/src/main/java/org/carlmontrobotics/subsystems/Arm.java
@@ -100,13 +100,13 @@ public Arm() {
 
         armPIDMaster.setFeedbackDevice(armMasterEncoder);
         armPIDMaster.setPositionPIDWrappingEnabled(true);
-        armPIDMaster.setPositionPIDWrappingMinInput(MathUtil.angleModulus(LOWER_ANGLE_LIMIT));
-        armPIDMaster.setPositionPIDWrappingMaxInput(MathUtil.angleModulus(UPPER_ANGLE_LIMIT));
+        armPIDMaster.setPositionPIDWrappingMinInput(LOWER_ANGLE_LIMIT);
+        armPIDMaster.setPositionPIDWrappingMaxInput(UPPER_ANGLE_LIMIT);
         //two PIDs?
         armPIDFollower.setFeedbackDevice(armMotorFollower.getEncoder());
         armPIDFollower.setPositionPIDWrappingEnabled(true);
-        armPIDFollower.setPositionPIDWrappingMinInput(LOWER_ANGLE_LIMIT);
-        armPIDFollower.setPositionPIDWrappingMaxInput(UPPER_ANGLE_LIMIT);
+        armPIDFollower.setPositionPIDWrappingMinInput(MathUtil.angleModulus(LOWER_ANGLE_LIMIT));
+        armPIDFollower.setPositionPIDWrappingMaxInput(MathUtil.angleModulus(UPPER_ANGLE_LIMIT));
 
         SmartDashboard.putData("Arm", this);