calibrate swerve

Iron-Panthers · Nov 11, 2023 · 527f839 · 527f839
1 parent 73a0638
commit 527f839
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
@@ -152,7 +152,7 @@ public static final class Module1 { // historically front right
 
         public static final double STEER_OFFSET =
             IS_COMP_BOT
-                ? -Math.toRadians(343.432) // comp bot offset
+                ? -Math.toRadians(162.685546875 + 180) // comp bot offset
                 : -Math.toRadians(184.833984); // practice bot offset
       }
 
@@ -163,7 +163,7 @@ public static final class Module2 { // historically front left
 
         public static final double STEER_OFFSET =
             IS_COMP_BOT
-                ? -Math.toRadians(221.388) // comp bot offset
+                ? -Math.toRadians(220.517578125) // comp bot offset
                 : -Math.toRadians(307.968750); // practice bot offset
       }
 
@@ -174,7 +174,7 @@ public static final class Module3 { // historically back left
 
         public static final double STEER_OFFSET =
             IS_COMP_BOT
-                ? -Math.toRadians(134.115) // comp bot offset
+                ? -Math.toRadians(134.82421875) // comp bot offset
                 : -Math.toRadians(306.738281 + 180); // practice bot offset
       }
 
@@ -185,7 +185,7 @@ public static final class Module4 { // historically back right
 
         public static final double STEER_OFFSET =
             IS_COMP_BOT
-                ? -Math.toRadians(20.4750) // comp bot offset
+                ? -Math.toRadians(201.09375 + 180) // comp bot offset
                 : -Math.toRadians(60.908203); // practice bot offset
       }
     }