New offsets for slopbot.

diff --git a/src/main/java/frc/robot/constants/swerve/DriveConstants.java b/src/main/java/frc/robot/constants/swerve/DriveConstants.java
index 5492f69df25cdb0189645a4ea8bd7294449991c0..d7e0193d9e6c2d3bc7d7a28af12eaf2f42835a58 100644 (file)
--- a/src/main/java/frc/robot/constants/swerve/DriveConstants.java
+++ b/src/main/java/frc/robot/constants/swerve/DriveConstants.java
@@ -257,10 +257,10 @@ public class DriveConstants {
                 MODULE_CONSTANTS = COTSFalconSwerveConstants.SDSMK4i(DRIVE_GEAR_RATIO);
 
             } else if (robotId == RobotId.Vertigo) {
-                STEER_OFFSET_FRONT_LEFT = 4.185;
-                STEER_OFFSET_FRONT_RIGHT = 101.519+90;
-                STEER_OFFSET_BACK_LEFT = 38.997+180;
-                STEER_OFFSET_BACK_RIGHT = 242.847-90;
+                STEER_OFFSET_FRONT_LEFT = Units.radiansToDegrees(3.43);
+                STEER_OFFSET_FRONT_RIGHT = Units.radiansToDegrees(1.91) + 180;
+                STEER_OFFSET_BACK_LEFT = Units.radiansToDegrees(2.28);
+                STEER_OFFSET_BACK_RIGHT = Units.radiansToDegrees(5.03);
                 
                 DRIVE_GEAR_RATIO = (50.0 / 14.0) * (17.0 / 27.0) * (45.0 / 15.0);