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DeepBlueRobotics · Mar 4, 2024 · d557415 · d557415
1 parent 5ea8b8e
commit d557415
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Showing 2 changed files with 4 additions and 6 deletions.
diff --git a/src/main/java/org/carlmontrobotics/Constants.java b/src/main/java/org/carlmontrobotics/Constants.java
@@ -26,8 +26,6 @@ public static final class Drivetrain {
 
 	public static final class Arm {
 
-
-
 		//Motor port
 		public static final int ARM_MOTOR_PORT_MASTER = 13;
 		public final static int ARM_MOTOR_PORT_FOLLOWER = 18;
@@ -62,15 +60,15 @@ public static final class Arm {
 		public static final double kV = 0.1;
 		public static final double kA = 0.1;
 		public static final double IZONE = 4;
-		public static final double MAX_FF_VEL = 1; // rot / s
-		public static final double MAX_FF_ACCEL = 1; // rot / s^2 
+		public static final double MAX_FF_VEL_RAD_P_S = 1; // rad / s
+		public static final double MAX_FF_ACCEL_RAD_P_S = 1; // rad / 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 TrapezoidProfile.Constraints TRAP_CONSTRAINTS = new TrapezoidProfile.Constraints(MAX_FF_VEL, MAX_FF_ACCEL);
+		public static TrapezoidProfile.Constraints TRAP_CONSTRAINTS = new TrapezoidProfile.Constraints(MAX_FF_VEL_RAD_P_S, MAX_FF_ACCEL_RAD_P_S);
 		//other0;
 
 		public static final double MARGIN_OF_ERROR = Math.PI/18;

diff --git a/src/main/java/org/carlmontrobotics/commands/ArmTeleop.java b/src/main/java/org/carlmontrobotics/commands/ArmTeleop.java
@@ -62,7 +62,7 @@ public double getRequestedSpeeds() {
     if (Math.abs(joystick.getAsDouble()) <= Constants.OI.JOY_THRESH) {
       rawArmVel = 0.0;
     } else {
-      rawArmVel = MAX_FF_VEL * joystick.getAsDouble();
+      rawArmVel = MAX_FF_VEL_RAD_P_S * joystick.getAsDouble();
     }
 
     return rawArmVel;