event: end of quals

flamingchickens1540 · Apr 19, 2024 · 001799e · 001799e
1 parent d92402d
commit 001799e
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Showing 2 changed files with 5 additions and 3 deletions.
diff --git a/src/main/java/org/team1540/robot2024/Constants.java b/src/main/java/org/team1540/robot2024/Constants.java
@@ -21,7 +21,7 @@
 public final class Constants {
     public static final boolean IS_COMPETITION_ROBOT = true;
     // Whether to pull PID constants from SmartDashboard
-    private static final boolean tuningMode = false; // TODO: DO NOT SET TO TRUE FOR COMP
+    private static final boolean tuningMode = true; // TODO: DO NOT SET TO TRUE FOR COMP
     private static final Mode simMode = Mode.SIM; // Can also be Mode.REPLAY
 
     public static final Mode currentMode = Robot.isReal() ? Mode.REAL : simMode;

diff --git a/src/main/java/org/team1540/robot2024/subsystems/shooter/ShooterPivotIOTalonFX.java b/src/main/java/org/team1540/robot2024/subsystems/shooter/ShooterPivotIOTalonFX.java
@@ -88,7 +88,9 @@ public ShooterPivotIOTalonFX() {
 
         motor.optimizeBusUtilization();
         cancoder.optimizeBusUtilization();
-        motor.setPosition(absolutePosition.getValueAsDouble() / CANCODER_TO_PIVOT * CHAIN_FACTOR);
+        motor.setPosition(
+                Rotation2d.fromRotations(absolutePosition.getValueAsDouble() / CANCODER_TO_PIVOT * CHAIN_FACTOR).plus(Rotation2d.fromRadians(0.03856 - 0.02649405)).getRotations()
+        );
     }
 
     @Override
@@ -97,7 +99,7 @@ public void updateInputs(ShooterPivotIOInputs inputs) {
         inputs.isAtForwardLimit = forwardLimit.getValue() == ForwardLimitValue.ClosedToGround;
         inputs.isAtReverseLimit = reverseLimit.getValue() == ReverseLimitValue.ClosedToGround;
         inputs.position = Rotation2d.fromRotations(position.getValueAsDouble());
-        inputs.absolutePosition = Rotation2d.fromRotations(absolutePosition.getValueAsDouble() / CANCODER_TO_PIVOT * CHAIN_FACTOR);
+        inputs.absolutePosition = Rotation2d.fromRotations(absolutePosition.getValueAsDouble() / CANCODER_TO_PIVOT * CHAIN_FACTOR).plus(Rotation2d.fromRadians(0.03865 - 0.02649405));
         inputs.velocityRPS = velocity.getValueAsDouble();
         inputs.appliedVolts = appliedVoltage.getValueAsDouble();
         inputs.currentAmps = current.getValueAsDouble();