From: Arnav495 <arnieincyberland@gmail.com>
Date: Tue, 10 Feb 2026 02:41:44 +0000 (-0800)
Subject: New offsets for slopbot.
X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=d8b0d4cab4a4783b704757465547b3583176c87d;p=FRC2026.git

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 5492f69..d7e0193 100644
--- 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);