Arm setpoints

Team-4795 · Feb 6, 2025 · ad7a167 · ad7a167
1 parent e9178a4
commit ad7a167
Showing 1 changed file with 4 additions and 2 deletions.
diff --git a/src/main/java/frc/robot/subsystems/arm/ArmConstants.java b/src/main/java/frc/robot/subsystems/arm/ArmConstants.java
@@ -7,8 +7,10 @@ public class ArmConstants {
     public static final int CURRENT_LIMIT = 50;
     public static final double ARM_OFFSET = Math.PI/2;
 
-    public static final double CORAL_L2 = 0;
-    public static final double CORAL_L3 = 54.1 * (Math.PI/180);
+    public static final double CORAL_L1 = Units.degreesToRadians(-34.74);
+    public static final double CORAL_L2 = Units.degreesToRadians(-54.1); // with elevator up
+    public static final double CORAL_L3 = Units.degreesToRadians(54.1);
+    public static final double CORAL_L4 = Units.degreesToRadians(54.61)
 
     public static final double MAX_VELOCITY = 2;
     public static final double MAX_ACCELERATION = 2;