Update comments (also clarify stuff for #24 )

DeepBlueRobotics · Mar 9, 2024 · f1a867a · f1a867a
1 parent 2fd9430
commit f1a867a
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Showing 2 changed files with 4 additions and 3 deletions.
diff --git a/src/main/java/org/carlmontrobotics/Constants.java b/src/main/java/org/carlmontrobotics/Constants.java
@@ -35,7 +35,8 @@ public static final class Arm {
 		public final static int ARM_MOTOR_PORT_FOLLOWER = 18;
 		// Config for motors
 		public static final boolean MOTOR_INVERTED_MASTER = false;
-		public static final boolean MOTOR_INVERTED_FOLLOWER = true; //verifyed by design
+		public static final boolean MOTOR_INVERTED_FOLLOWER = true; //verifyed by design AND physical testing
+
 		public static final double ROTATION_TO_RAD = 2 * Math.PI;
 		public static final boolean ENCODER_INVERTED = false;
 
@@ -71,7 +72,7 @@ public static final class Arm {
 		public static final double COM_ARM_LENGTH_METERS = 0.381;
 		public static final double ARM_MASS_KG = 9.59302503;
 
-		public static TrapezoidProfile.Constraints TRAP_CONSTRAINTS;//initalized by arm constructor 
+		public static TrapezoidProfile.Constraints TRAP_CONSTRAINTS;//initalized by arm constructor
 		// other0;
 
 		// public static final double MARGIN_OF_ERROR = Math.PI / 18;

diff --git a/src/main/java/org/carlmontrobotics/commands/ArmTeleop.java b/src/main/java/org/carlmontrobotics/commands/ArmTeleop.java
@@ -49,7 +49,7 @@ public void execute() {
     double speeds = getRequestedSpeeds();
 
     if (speeds == 0){//if no input, don't set any goals.
-      lastTime = Timer.getFPGATimestamp();
+      lastTime = Timer.getFPGATimestamp();//update deltaT even when not running
       return;
     }