updated alpha offsets

Team3256 · Apr 16, 2023 · 15e9f47 · 15e9f47
1 parent e3d7430
commit 15e9f47
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Showing 2 changed files with 5 additions and 5 deletions.
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -31,7 +31,7 @@ public final class Constants {
   public static final boolean kAdvantageKitReplayEnabled = false;
   public static final boolean kCompetitionModeEnabled = true;
   public static final RobotType kRobotType = RobotType.ALPHA;
-  public static final RobotMode kCurrentMode = RobotMode.SIM;
+  public static final RobotMode kCurrentMode = RobotMode.REAL;
 
   public static final double kStickDeadband = 0.05;
   public static final double kStickCancelDeadband = 0.50;

diff --git a/src/main/java/frc/robot/swerve/SwerveConstants.java b/src/main/java/frc/robot/swerve/SwerveConstants.java
@@ -127,10 +127,10 @@ public final class SwerveConstants {
   public static final double kAzimuthI = 0.00;
   public static final double kAzimuthD = 0.01;
   public static final Rotation2d[] kAlphaOffsets = {
-    Rotation2d.fromDegrees(268.4179), // Front Left - 0
-    Rotation2d.fromDegrees(314.9192), // Front Right - 1
-    Rotation2d.fromDegrees(77.6953), // Back Left - 2
-    Rotation2d.fromDegrees(280.7226) // Back Right - 3
+    Rotation2d.fromDegrees(265.2539), // Front Left - 0
+    Rotation2d.fromDegrees(348.0469), // Front Right - 1
+    Rotation2d.fromDegrees(78.4863), // Back Left - 2
+    Rotation2d.fromDegrees(281.8652) // Back Right - 3
   };
 
   public static final Rotation2d[] kZiptideOffsets = {