deleted follower motor's bounds

DeepBlueRobotics · Mar 3, 2024 · ff6a115 · ff6a115
1 parent a0e46b3
commit ff6a115
Showing 1 changed file with 3 additions and 3 deletions.
diff --git a/src/main/java/org/carlmontrobotics/subsystems/Arm.java b/src/main/java/org/carlmontrobotics/subsystems/Arm.java
@@ -104,9 +104,9 @@ public Arm() {
         armPIDMaster.setPositionPIDWrappingMaxInput(UPPER_ANGLE_LIMIT);
         //two PIDs?
         armPIDFollower.setFeedbackDevice(armMotorFollower.getEncoder());
-        armPIDFollower.setPositionPIDWrappingEnabled(true);
-        armPIDFollower.setPositionPIDWrappingMinInput(LOWER_ANGLE_LIMIT - Math.PI); //Wierd math, im not sure it this works but basically
-        armPIDFollower.setPositionPIDWrappingMaxInput(UPPER_ANGLE_LIMIT - Math.PI);// since absolute is between -180 and 180 and relative is between 0 and 360(correct me if im wrong) so if we subract 180, then its the same
+        // armPIDFollower.setPositionPIDWrappingEnabled(true);
+        // armPIDFollower.setPositionPIDWrappingMinInput(LOWER_ANGLE_LIMIT - Math.PI); //Wierd math, im not sure it this works but basically
+        // armPIDFollower.setPositionPIDWrappingMaxInput(UPPER_ANGLE_LIMIT - Math.PI);// since absolute is between -180 and 180 and relative is between 0 and 360(correct me if im wrong) so if we subract 180, then its the same
 
         SmartDashboard.putData("Arm", this);