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

…Code2024 into sofie-arm
DeepBlueRobotics · Mar 3, 2024 · 9dc6e76 · 9dc6e76
2 parents 1c54cf6 + fe8fcb4
commit 9dc6e76
Showing 1 changed file with 2 additions and 0 deletions.
diff --git a/src/main/java/org/carlmontrobotics/Constants.java b/src/main/java/org/carlmontrobotics/Constants.java
@@ -70,6 +70,8 @@ public static final class Arm {
 		public static final double MAX_FF_ACCEL = 1; // rot / s^2 
 
 		//if needed
+		public static final double COM_ARM_LENGTH_METERS = 0.381 ;
+		public static final double ARM_MASS_KG = 9.59302503;
 		public static final double UPPER_ANGLE_LIMIT = Units.degreesToRadians(70); 
 		public static final double LOWER_ANGLE_LIMIT = Units.degreesToRadians(0);
 		public static final double ARM_DISCONT_RAD = (LOWER_ANGLE_LIMIT + UPPER_ANGLE_LIMIT) /2 - Math.PI;