fixed POSTOLRAD

DeepBlueRobotics · Mar 6, 2024 · e33037d · e33037d
1 parent 35374d4
commit e33037d
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Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/src/main/java/org/carlmontrobotics/Constants.java b/src/main/java/org/carlmontrobotics/Constants.java
@@ -78,7 +78,7 @@ public static final class Arm {
 
 		// Boundaries
 		public static final double ARM_TELEOP_MAX_GOAL_DIFF_FROM_CURRENT_RAD = 0; // placeholder
-		public static final double POS_TOLERANCE_RAD = Units.degreesToRadians(42); // placeholder //Whether or not this is the actual account
+		public static final double POS_TOLERANCE_RAD = Math.PI/512; // placeholder //Whether or not this is the actual account
 															// idk TODO: test on actual encoder without a conversion
 															// factor
 		public static final double VEL_TOLERANCE_RAD_P_SEC = (POS_TOLERANCE_RAD/0.02); // 20ms per robot loop

diff --git a/src/main/java/org/carlmontrobotics/subsystems/Arm.java b/src/main/java/org/carlmontrobotics/subsystems/Arm.java
@@ -91,7 +91,7 @@ public Arm() {
         // Comment out when running sysid
         armMasterEncoder.setPositionConversionFactor(ROTATION_TO_RAD);
         armMasterEncoder.setVelocityConversionFactor(ROTATION_TO_RAD);
-        armMasterEncoder.setZeroOffset(ENCODER_OFFSET_RAD);
+        armMasterEncoder.setZeroOffset(ENCODER_OFFSET_RAD);
         // ------------------------------------------------------------
         armMasterEncoder.setInverted(ENCODER_INVERTED);