James broke the arm zero again

AEMBOT · Oct 13, 2023 · 26c64a4 · 26c64a4
1 parent c185274
commit 26c64a4
Showing 1 changed file with 3 additions and 2 deletions.
diff --git a/src/main/java/frc/robot/subsystems/ArmSubsystem.java b/src/main/java/frc/robot/subsystems/ArmSubsystem.java
@@ -124,7 +124,7 @@ public ArmSubsystem() {
 
 
         extendEncoder.setPositionConversionFactor(extendMetersPerTick);
-        absoluteAngleEncoder.setPositionOffset(0.382);
+        absoluteAngleEncoder.setPositionOffset(0.044);
         relativeAngleEncoder.setDistancePerPulse(2 * Math.PI / 8192.0);
 
         pidExtend.setSetpoint(0);
@@ -186,7 +186,8 @@ public void angleUp() {
     }
 
     public double getAnglePosition() {
-        return (absoluteAngleEncoder.getAbsolutePosition() - absoluteAngleEncoder.getPositionOffset()) * Math.PI * 2;
+        double angle = (absoluteAngleEncoder.getAbsolutePosition() - absoluteAngleEncoder.getPositionOffset()) * Math.PI * 2;
+        return (angle > 4) ? angle - (Math.PI * 2) : angle;
     }
 
     public void angleDown() {