Merge pull request #18 from Dreadbot/dev

Post-ARC updates
Dreadbot · Apr 22, 2024 · 9555e07 · 9555e07
2 parents 0c52740 + 6a86ace
commit 9555e07
Show file tree

Hide file tree

Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -41,7 +41,7 @@ public static class SwerveConstants {
         public static final double BACK_RIGHT_ENCODER_OFFSET = -0.3903808;
         public static final double DRIVE_GEAR_RATIO = (14.0 / 50.0) * (27.0 / 17.0) * (15.0 / 45.0);
         public static final double TURN_GEAR_RATIO = 150 / 7;
-        public static final double WHEEL_DIAMETER = Units.inchesToMeters(3.75);
+        public static final double WHEEL_DIAMETER = Units.inchesToMeters(3.91);
       }
 
       public static class AutonomousConstants {

diff --git a/src/main/java/frc/robot/commmands/armCommands/ArmTargetCommand.java b/src/main/java/frc/robot/commmands/armCommands/ArmTargetCommand.java
@@ -38,7 +38,7 @@ public class ArmTargetCommand<T extends WheelPositions<T>> extends Command {
     private Translation2d speakerHood;
     // -.007 - pre comp
     // -.0040 - MSC3-e7-blue
-    private final double targetBias = -0.0050; // bigger number (less negative) is higher arm, lower note
+    private final double targetBias = -0.007; // bigger number (less negative) is higher arm, lower note
 
 
     private double vNought = (4 * Math.PI * 0.0254 * 4000) / 60; // I don't know what you guys want this to be