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Changing arm resting and sucking positions #198

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Merged
JShriller merged 2 commits into from
Sep 24, 2026
Merged

Changing arm resting and sucking positions #198

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a5eca5e
Changed max angle in intake constancts onece
JShriller Sep 17, 2026
fc73187
Made changes so the net doesn't get caught in the gears and changed t…
JShriller Sep 18, 2026
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4 changes: 2 additions & 2 deletions src/main/java/frc/robot/subsystems/intake/IntakeConstants.java
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Original file line number Diff line number Diff line change
Expand Up @@ -81,8 +81,8 @@ public static class ArmConstants {
// deployed hardstops, each held for 5 seconds. Deployed sits past horizontal, not at it — the
// gravity feedforward's zero reference is a physical fact about the mechanism, not a hardstop.
// No margin included — these are the exact hand-measured hardstop positions.
public static final double maxPosRad = Degrees.of(81.0).in(Radians);
public static final double minPosRad = Degrees.of(-51.7).in(Radians);
public static final double maxPosRad = Degrees.of(88.0).in(Radians);
public static final double minPosRad = Degrees.of(-45.0).in(Radians);

// Motion profile
public static final double PROFILE_MAX_VELOCITY = maxAngularVelocity.in(RadiansPerSecond);
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