Update at 'Sat Sep 28 17:50:36 PDT 2024'

flamingchickens1540 · Sep 29, 2024 · 16e56ac · 16e56ac
1 parent c95fec9
commit 16e56ac
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/src/main/java/org/team1540/robot2024/Constants.java b/src/main/java/org/team1540/robot2024/Constants.java
@@ -168,7 +168,7 @@ public static class Pivot {
             // TODO: determine ratios
             public static final double CANCODER_TO_PIVOT = 28.0 / 15.0;
             public static final double MOTOR_TO_CANCODER = 56.0;
-            public static final Rotation2d ENCODER_OFFSET = Rotation2d.fromRadians(0.01215595);
+            public static final Rotation2d ENCODER_OFFSET = Rotation2d.fromRadians(0.01215595 - 0.00548239159444);
 
             public static final double CHAIN_FACTOR = 1.04;
             public static final double TOTAL_GEAR_RATIO = MOTOR_TO_CANCODER * CANCODER_TO_PIVOT;