From f395753a4cf22981b51ef5152856e3b11c66b3f9 Mon Sep 17 00:00:00 2001 From: Ethan Mortensen Date: Wed, 18 Feb 2026 12:29:26 -0800 Subject: [PATCH] fixed stuff :) --- src/main/java/frc/robot/subsystems/Climb/LinearClimb.java | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/main/java/frc/robot/subsystems/Climb/LinearClimb.java b/src/main/java/frc/robot/subsystems/Climb/LinearClimb.java index 9a3f2bb..a08ba11 100644 --- a/src/main/java/frc/robot/subsystems/Climb/LinearClimb.java +++ b/src/main/java/frc/robot/subsystems/Climb/LinearClimb.java @@ -91,19 +91,19 @@ public class LinearClimb extends SubsystemBase { * goes to the up position */ public void goUp() { - setSetpoint(Units.radiansToRotations(upPosition / ClimbConstants.WHEEL_RADIUS)); + setSetpoint((Units.radiansToRotations(upPosition / ClimbConstants.WHEEL_RADIUS)) * ClimbConstants.CLIMB_GEAR_RATIO); } /** * goes to the down position */ public void goDown() { - setSetpoint(Units.radiansToRotations(downPosition / ClimbConstants.WHEEL_RADIUS)); + setSetpoint((Units.radiansToRotations(downPosition / ClimbConstants.WHEEL_RADIUS)) * ClimbConstants.CLIMB_GEAR_RATIO); } /** * goes to the climb position */ public void climb() { - setSetpoint(Units.radiansToRotations(climbPosition / ClimbConstants.WHEEL_RADIUS)); + setSetpoint((Units.radiansToRotations(climbPosition / ClimbConstants.WHEEL_RADIUS)) * ClimbConstants.CLIMB_GEAR_RATIO); } @Override -- 2.39.5