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CurtinFRC · Dec 31, 2023 · 0cf9566 · 0cf9566
1 parent a3c9c21
commit 0cf9566
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Showing 3 changed files with 1 addition and 10 deletions.
diff --git a/wombat/src/main/cpp/subsystems/Arm.cpp b/wombat/src/main/cpp/subsystems/Arm.cpp
@@ -60,14 +60,6 @@ void wom::subsystems::Arm::OnUpdate(units::second_t dt) {
       break;
   }
 
-  // if (
-  //   (((_config.minAngle + _config.angleOffset) < 75_deg && units::math::abs(_pid.GetSetpoint() - _config.minAngle) <= 1_deg)
-    //  || ((_config.maxAngle + _config.angleOffset) > 105_deg && units::math::abs(_pid.GetSetpoint() - _config.maxAngle) <= 1_deg)) &&
-  //   units::math::abs(_pid.GetError()) <= 1_deg
-  // ) {
-  //   voltage = 0_V;
-  // }
-
   voltage *= armLimit;
 
   // units::newton_meter_t torqueLimit = 10_kg * 1.4_m * 6_mps_sq;

diff --git a/wombat/src/main/cpp/subsystems/Elevator.cpp b/wombat/src/main/cpp/subsystems/Elevator.cpp
@@ -14,7 +14,7 @@ wom::subsystems::Elevator::Elevator(ElevatorConfig config)
   _pid{config.path + "/pid", config.pid},
   _velocityPID{config.path + "/velocityPID", config.velocityPID},
   _table(nt::NetworkTableInstance::GetDefault().GetTable(config.path)) {
-  // _config.leftGearbox.encoder->SetEncoderPosition(_config.initialHeight / _config.radius * 1_rad);
+  _config.leftGearbox.encoder->SetEncoderPosition(_config.initialHeight / _config.radius * 1_rad);
 }
 
 void wom::subsystems::Elevator::OnUpdate(units::second_t dt) {

diff --git a/wombat/src/main/cpp/utils/Encoder.cpp b/wombat/src/main/cpp/utils/Encoder.cpp
@@ -55,7 +55,6 @@ units::radians_per_second_t wom::utils::Encoder::GetEncoderAngularVelocity() {
 }
 
 double wom::utils::DigitalEncoder::GetEncoderRawTicks() const {
-  // Encoder.encoderType = 0;
   return _nativeEncoder.Get();
 }
-Original file line number
+Diff line change
@@ Expand Up @@
     }
     double wom::utils::DigitalEncoder::GetEncoderRawTicks() const {
-      // Encoder.encoderType = 0;
       return _nativeEncoder.Get();
     }
@@ Expand Down @@