kCos

ftc13100 · Nov 23, 2024 · 06b422f · 06b422f
1 parent 7eb30b9
commit 06b422f
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Showing 3 changed files with 6 additions and 3 deletions.
diff --git a/.idea/misc.xml b/.idea/misc.xml
diff --git a/TeamCode/src/main/kotlin/org/firstinspires/ftc/teamcode/subsystems/arm/ArmSubsystem.kt b/TeamCode/src/main/kotlin/org/firstinspires/ftc/teamcode/subsystems/arm/ArmSubsystem.kt
@@ -6,7 +6,6 @@ import com.arcrobotics.ftclib.controller.wpilibcontroller.ArmFeedforward
 import com.arcrobotics.ftclib.hardware.motors.Motor
 import com.arcrobotics.ftclib.hardware.motors.Motor.GoBILDA
 import com.arcrobotics.ftclib.hardware.motors.MotorGroup
-import org.firstinspires.ftc.teamcode.subsystems.arm.OpenArmSubsystem.Companion.kCos
 import org.firstinspires.ftc.teamcode.utils.PIDSubsystem
 import kotlin.math.PI
 
@@ -49,6 +48,9 @@ class ArmSubsystem(
     override fun getMeasurement() = armAngle
 
     companion object {
+        @JvmField
+        var kCos = 0.3
+
         @JvmField
         var kP = 0.0
 

diff --git a/TeamCode/src/main/kotlin/org/firstinspires/ftc/teamcode/subsystems/arm/OpenArmSubsystem.kt b/TeamCode/src/main/kotlin/org/firstinspires/ftc/teamcode/subsystems/arm/OpenArmSubsystem.kt
@@ -6,6 +6,7 @@ import com.arcrobotics.ftclib.hardware.motors.Motor
 import com.arcrobotics.ftclib.hardware.motors.Motor.GoBILDA
 import com.arcrobotics.ftclib.hardware.motors.MotorGroup
 import kotlin.math.PI
+import kotlin.math.cos
 
 @Config
 class OpenArmSubsystem(
@@ -38,7 +39,7 @@ class OpenArmSubsystem(
     }
 
     fun stop() {
-        turnMotors.set(kCos * Math.cos(armAngle))
+        turnMotors.set(kCos * cos(armAngle))
     }
 
     companion object {