Updated Presets and fixed watchdog stuff

titan2022 · Mar 5, 2019 · 7643bd5 · 7643bd5
1 parent 58f60f7
commit 7643bd5
Show file tree

Hide file tree

Showing 2 changed files with 3 additions and 3 deletions.
diff --git a/src/main/java/frc/robot/ConstantsMap.java b/src/main/java/frc/robot/ConstantsMap.java
@@ -72,7 +72,7 @@ public class ConstantsMap {
 
     public static final int  SHOULDER_FOLLOW_DISTANCE = 20;
     public static final double SHOULDER_CHANGE_SETPOINT_SPEED = .5;
-    public static final int  SHOULDER_WRIST_FOLD_ANGLE  = -55;
+    public static final int  SHOULDER_WRIST_FOLD_ANGLE  = -60;
 
     public static final int SHOULDER_VELOCITY = 24000/2;
     public static final int SHOULDER_ACCEL = 24000 ;
@@ -104,7 +104,7 @@ public class ConstantsMap {
     public static final double CARGO_BALL_PRESET = -20.0;
     public static final double CARGO_HATCH_PRESET = -20.0;
 
-    public static final double HATCH_COLLECT_PRESET = -20.0;
+    public static final double HATCH_COLLECT_PRESET = -59.0;
     public static final double BALL_COLLECT_WRIST_PRESET = -11.0;
     public static final double BALL_COLLECT_SHOULDER_PRESET = -46.0;
 

diff --git a/src/main/java/frc/robot/commands/GoHome.java b/src/main/java/frc/robot/commands/GoHome.java
@@ -19,7 +19,7 @@ public GoHome() {
     protected void initialize() {        
 
         armSubsystem.setShoulderSetPoint(ConstantsMap.SHOULDER_MIN_ANGLE);
-        armSubsystem.setWristSetPoint(ConstantsMap.SHOULDER_MIN_ANGLE);
+        armSubsystem.setWristSetPoint(ConstantsMap.WRIST_MAX_ANGLE);
 
 
     }