From 6a86ace67784411b96a487fb08ccaddb51bafddf Mon Sep 17 00:00:00 2001 From: pantaelaman Date: Mon, 22 Apr 2024 10:38:42 -0400 Subject: [PATCH] Small constant changes --- src/main/java/frc/robot/Constants.java | 2 +- .../java/frc/robot/commmands/armCommands/ArmTargetCommand.java | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index 017cd2b..56b2794 100644 --- 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 index f1a7978..b8e14f3 100644 --- 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> 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