lowered some limits

BitBucketsFRC4183 · Mar 9, 2025 · 9445449 · 9445449
1 parent f051be9
commit 9445449
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Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/src/main/java/frc/robot/subsystems/ArmSubsystem/ArmSubsystem.java b/src/main/java/frc/robot/subsystems/ArmSubsystem/ArmSubsystem.java
@@ -84,9 +84,9 @@ public void setArmVoltage(double volts){
             outputVoltage = Math.signum(outputVoltage) == 1 ? outputVoltage : outputVoltage * 0.07;
         } else if (getCurrentAngle() >= ArmConstants.MAX_ANGLE_RADS) {
             outputVoltage = Math.signum(outputVoltage) == -1 ? outputVoltage : outputVoltage * 0.07;
-        } else if (getCurrentAngle() <= ArmConstants.MIN_ANGLE_RADS + Units.degreesToRadians(15)) {
+        } else if (getCurrentAngle() <= ArmConstants.MIN_ANGLE_RADS + Units.degreesToRadians(10)) {
             outputVoltage = Math.signum(outputVoltage) == 1 ? outputVoltage : outputVoltage * 0.33;
-        } else if (getCurrentAngle() >= ArmConstants.MAX_ANGLE_RADS - Units.degreesToRadians(15)) {
+        } else if (getCurrentAngle() >= ArmConstants.MAX_ANGLE_RADS - Units.degreesToRadians(8)) {
             outputVoltage = Math.signum(outputVoltage) == -1 ? outputVoltage : outputVoltage * 0.25;
         }
 

diff --git a/src/main/java/frc/robot/subsystems/ElevatorSubsystem/ElevatorSubsystem.java b/src/main/java/frc/robot/subsystems/ElevatorSubsystem/ElevatorSubsystem.java
@@ -101,9 +101,9 @@ public void setElevatorVoltage(double volts) {
             outputVoltage = Math.signum(outputVoltage) == 1 ? outputVoltage : 0;
         } else if (getLoadHeight() >= ElevatorConstants.maxHeight) {
             outputVoltage = Math.signum(outputVoltage) == -1 ? outputVoltage : 0;
-        } else if ((getLoadHeight() <= ElevatorConstants.minHeight + 0.09)) {
+        } else if ((getLoadHeight() <= ElevatorConstants.minHeight + 0.06)) {
             outputVoltage = Math.signum(outputVoltage) == 1 ? outputVoltage : outputVoltage * 0.333;
-        } else if (getLoadHeight() >= ElevatorConstants.maxHeight - 0.09) {
+        } else if (getLoadHeight() >= ElevatorConstants.maxHeight - 0.06) {
             outputVoltage = Math.signum(outputVoltage) == -1 ? outputVoltage : outputVoltage * 0.333;
 
         }