added pivot max angle const

this is so we can convert angle in degrees into a position for the pivot motor
Patribots4738 · Jan 23, 2024 · 4688280 · 4688280
1 parent fb5b106
commit 4688280
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diff --git a/src/main/java/frc/robot/subsystems/shooter/Pivot.java b/src/main/java/frc/robot/subsystems/shooter/Pivot.java
@@ -35,6 +35,8 @@ public void configMotor() {
     }
 
     public void setAngle(double angle) {
-        pivot.setTargetPosition(angle);
+        // Divide by 180 because angle will be a value between 180 and -180
+        // and we want to set the position between 1.0 and -1.0
+        pivot.setTargetPosition(angle / ShooterConstants.PIVOT_MAX_ANGLE);
     }
 }
diff --git a/src/main/java/frc/robot/util/Constants.java b/src/main/java/frc/robot/util/Constants.java
@@ -117,6 +117,8 @@ public static final class ShooterConstants {
                 public static final double PIVOT_MIN_OUTPUT = -1;
                 public static final double PIVOT_MAX_OUTPUT = 1;
 
+                public static final double PIVOT_MAX_ANGLE = 180.0;
+
                 public static final double MEASUREMENT_INTERVAL_FEET = 1.0;
                 /**
                  * The distances are in feet, the speeds are in RPM, and the angles are in