updated offsets

TitaniumTitans · Jan 28, 2024 · efa6793 · efa6793
1 parent fa409fa
commit efa6793
Showing 1 changed file with 4 additions and 4 deletions.
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -61,7 +61,7 @@ private DriveConstants() {
             DRIVE_FF_GAINS,
             DRIVE_FB_GAINS,
             TURN_FB_GAINS,
-            Units.rotationsToDegrees(-0.017578), // offset 0.457764
+            Units.rotationsToDegrees(0.230713), // offset 0.457764
             true, // inversion
             ModuleConstants.GearRatios.L3
     );
@@ -72,7 +72,7 @@ private DriveConstants() {
             DRIVE_FF_GAINS,
             DRIVE_FB_GAINS,
             TURN_FB_GAINS,
-            Units.rotationsToDegrees(0.201172),
+            Units.rotationsToDegrees(0.203857),
             true,
             ModuleConstants.GearRatios.L3
     );
@@ -83,7 +83,7 @@ private DriveConstants() {
             DRIVE_FF_GAINS,
             DRIVE_FB_GAINS,
             TURN_FB_GAINS,
-            Units.rotationsToDegrees(0.457764),
+            Units.rotationsToDegrees(0.212158),
             true,
             ModuleConstants.GearRatios.L3
     );
@@ -94,7 +94,7 @@ private DriveConstants() {
             DRIVE_FF_GAINS,
             DRIVE_FB_GAINS,
             TURN_FB_GAINS,
-            Units.rotationsToDegrees(-0.263916),
+            Units.rotationsToDegrees(-0.263184),
             true,
             ModuleConstants.GearRatios.L3
     );