Merge branch 'sofie-arm' of https://github.com/DeepBlueRobotics/Robot…

…Code2024 into sofie-arm
DeepBlueRobotics · Mar 3, 2024 · 9535134 · 9535134
2 parents 8d7ea0c + dc02eae
commit 9535134
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Showing 2 changed files with 6 additions and 11 deletions.
diff --git a/src/main/java/org/carlmontrobotics/Constants.java b/src/main/java/org/carlmontrobotics/Constants.java
@@ -26,19 +26,14 @@ public static final class Drivetrain {
 
 	public static final class Arm {
 
-		//ports
-//config for motors (inverted, encoder offset, etc)
-//goal positions
-//feedforward, pid, trapezoid constants
-//Boundaries (arm cannot go beyond certain angles)
-//Controller buttons should go in OI not Arm
+
 
 		//Motor port
 		public static final int ARM_MOTOR_PORT_MASTER = 7;
 		public final static int ARM_MOTOR_PORT_FOLLOWER = 8;
 		//Config for motors
-		public static final boolean MOTOR_INVERTED_1 = true; //Todo: find all these (they are definetely wrong)
-		public static final boolean MOTOR_INVERTED_2 = false;
+		public static final boolean MOTOR_INVERTED_MASTER = true; //Todo: find all these (they are definetely wrong)
+		public static final boolean MOTOR_INVERTED_FOLLOWER = false;
 		public static final double ROTATION_TO_RAD = 2 * Math.PI;
 		public static final boolean ENCODER_INVERTED = false;
 		public static final double ARM_TELEOP_MAX_GOAL_DIFF_FROM_CURRENT_RAD = 0; //placeholder

diff --git a/src/main/java/org/carlmontrobotics/subsystems/Arm.java b/src/main/java/org/carlmontrobotics/subsystems/Arm.java
@@ -71,9 +71,9 @@ public class Arm extends SubsystemBase {
 
     public Arm() {
       // weird math stuff
-        armMotorMaster.setInverted(MOTOR_INVERTED_1);
+        armMotorMaster.setInverted(MOTOR_INVERTED_MASTER);
         armMotorMaster.setIdleMode(IdleMode.kBrake);
-        armMotorFollower.setInverted(MOTOR_INVERTED_2);
+        armMotorFollower.setInverted(MOTOR_INVERTED_FOLLOWER);
         armMotorFollower.setIdleMode(IdleMode.kBrake);
 
         armMasterEncoder.setPositionConversionFactor(ROTATION_TO_RAD);
@@ -192,7 +192,7 @@ public void resetGoal() {
     }
     public void driveMotor(Measure<Voltage> volts) {
        armMotorMaster.setVoltage(volts.in(Volts));
-       armMotorFollower.setVoltage(volts.in(Volts));
+
     }
     public void logMotor(SysIdRoutineLog log) {
         log.motor("armMotorMaster")