degrees instead of rotations

DeepBlueRobotics · Mar 3, 2024 · fc8fdb8 · fc8fdb8
1 parent e0c668d
commit fc8fdb8
Showing 1 changed file with 3 additions and 1 deletion.
diff --git a/src/main/java/org/carlmontrobotics/subsystems/Arm.java b/src/main/java/org/carlmontrobotics/subsystems/Arm.java
@@ -28,6 +28,8 @@
 import edu.wpi.first.units.Voltage;
 import edu.wpi.first.util.sendable.SendableBuilder;
 import edu.wpi.first.wpilibj.DriverStation;
+
+import static edu.wpi.first.units.Units.DegreesPerSecond;
 import static edu.wpi.first.units.Units.Rotations;
 import static edu.wpi.first.units.Units.RotationsPerSecond;
 import static edu.wpi.first.units.Units.Volts;
@@ -201,7 +203,7 @@ public void logMotor(SysIdRoutineLog log) {
                         Volts))
                 .angularVelocity(velocity.mut_replace(
                         armMasterEncoder.getVelocity() / 60,
-                        RotationsPerSecond))
+                        DegreesPerSecond))
                 .angularPosition(distance.mut_replace(
                         armMasterEncoder.getPosition(),
                         Rotations));