Update Wristoffset

FRCTeam1987 · Sep 14, 2023 · 61b1684 · 61b1684
1 parent 118b965
commit 61b1684
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Showing 3 changed files with 5 additions and 6 deletions.
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -27,7 +27,7 @@
  */
 public final class Constants {
 
-  public static final ArmProfile ARM_A = new ArmProfile(569, -322.037); //+1
+  public static final ArmProfile ARM_A = new ArmProfile(1012, -322.037); //+1
   public static final ArmProfile ARM_B = new ArmProfile(687, -201); // +1.412
   public static ArmProfile INSTALLED_ARM = true ? ARM_A : ARM_B;
 

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -649,8 +649,8 @@ private void configureAutoCommands() {
     TAB_MATCH.add("Re-Home Wrist", new HomeWrist(wrist));
     TAB_MATCH.addBoolean("Cone", () -> claw.isCone());
     TAB_MATCH.addBoolean("Cube", () -> claw.isCube());
-    TAB_MATCH.add("Stop Wrist Motor", new InstantCommand(() ->  wrist.setPercent(0)));
-    
+    TAB_MATCH.add("Stop Wrist Motor", new InstantCommand(() -> wrist.setPercent(0)));
+
     TAB_TEST.add(
         "ScoreConeMid",
         new AutoScoreSequenceNoHome(

diff --git a/src/main/java/frc/robot/commands/CollectSequence.java b/src/main/java/frc/robot/commands/CollectSequence.java
@@ -4,8 +4,8 @@
 
 package frc.robot.commands;
 
-import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj.GenericHID.RumbleType;
+import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj2.command.ConditionalCommand;
 import edu.wpi.first.wpilibj2.command.InstantCommand;
 import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
@@ -58,8 +58,7 @@ public CollectSequence(
             new SequentialCommandGroup(
                 new InstantCommand(() -> controller.setRumble(RumbleType.kBothRumble, 1)),
                 new WaitCommand(0.4),
-                new InstantCommand(() -> controller.setRumble(RumbleType.kBothRumble, 0))
-            ),
+                new InstantCommand(() -> controller.setRumble(RumbleType.kBothRumble, 0))),
             new InstantCommand(),
             () -> positionConfig.get().equals(Constants.PositionConfigs.BACK_CONE_FLOOR)),
         new ParallelCommandGroup(