From d8b0d4cab4a4783b704757465547b3583176c87d Mon Sep 17 00:00:00 2001 From: Arnav495 Date: Mon, 9 Feb 2026 18:41:44 -0800 Subject: [PATCH] New offsets for slopbot. --- .../java/frc/robot/constants/swerve/DriveConstants.java | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) 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); -- 2.39.5