Improvements to logs (dont crash it on startup)

Patribots4738 · Oct 25, 2023 · 9466e2f · 9466e2f
1 parent 1849090
commit 9466e2f
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Showing 2 changed files with 3 additions and 6 deletions.
diff --git a/src/main/java/hardware/Arm.java b/src/main/java/hardware/Arm.java
@@ -48,8 +48,8 @@ public class Arm /* implements Loggable */ {
     private double armYReference = 0;
 
     // The DESIRED rotation of the arms
-    private double upperReferenceAngle = 0;
-    private double lowerReferenceAngle = 0;
+    private double upperReferenceAngle = Units.degreesToRadians(200);
+    private double lowerReferenceAngle = Units.degreesToRadians(122);
 
     private boolean armsAtDesiredPosition = false;
 

diff --git a/src/main/java/hardware/Swerve.java b/src/main/java/hardware/Swerve.java
@@ -113,10 +113,7 @@ public Swerve() {
     setBrakeMode();
 
     SmartDashboard.putNumberArray("Swerve/RealStates", new double[] {
-        frontLeft.getState().angle.getDegrees(), frontLeft.getState().speedMetersPerSecond,
-        frontRight.getState().angle.getDegrees(), frontRight.getState().speedMetersPerSecond,
-        rearLeft.getState().angle.getDegrees(), rearLeft.getState().speedMetersPerSecond,
-        rearRight.getState().angle.getDegrees(), rearRight.getState().speedMetersPerSecond
+        0, 0, 0, 0, 0, 0, 0, 0
     });
     SmartDashboard.putNumberArray("Swerve/DesiredStates", desiredModuleStates);
     SmartDashboard.putNumber("Swerve/RobotRotation", getPose().getRotation().getDegrees());