Merge branch 'main' of https://github.com/SouthwestRoboticsProgrammin…

…g/2024_Main_Robot
SouthwestRoboticsProgramming · May 9, 2024 · 4c81071 · 4c81071
2 parents dade8fc + 6bd3fa2
commit 4c81071
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Showing 2 changed files with 3 additions and 2 deletions.
diff --git a/Robot/src/main/java/com/swrobotics/robot/subsystems/amp/AmpArm2Subsystem.java b/Robot/src/main/java/com/swrobotics/robot/subsystems/amp/AmpArm2Subsystem.java
@@ -28,7 +28,7 @@ public final class AmpArm2Subsystem extends SubsystemBase {
  private static final double motorToArmRatio = 50;
  private static final double encoderToArmRatio = 2;
 
- private static final double cancoderOffset = 0.163330;
+ private static final double cancoderOffset = -0.079590;
 
  private Position targetPos;
 

diff --git a/Robot/src/main/java/com/swrobotics/robot/subsystems/swerve/SwerveEstimator.java b/Robot/src/main/java/com/swrobotics/robot/subsystems/swerve/SwerveEstimator.java
@@ -45,7 +45,8 @@ public SwerveEstimator(FieldInfo field) {
  double halfFrameW = 0.695 / 2;
 
  CameraCaptureProperties captureProps = new CameraCaptureProperties()
- .setExposure(20);
+ .setExposure(20)
+ .setGain(5);
 
  tagTracker = new TagTrackerInput(
  field,