Arm reading change

Author: Niosocket11

src/main/java/org/carlmontrobotics/lib199/SimpleMechs/Arm/ArmConfig.java

@@ -66,7 +66,7 @@ public final class ArmConfig {
      * @param armKFeedForward (kS, kG, kV, kA) of arm
      * @param armMainAbsoluteEncoder null if no absolute
      * @param armMotorIDOfBackupRelativeEncoder -1 if none
-     * @param armAbsoluteZeroOffset zeroOffset (in degrees) of abs enc, 0 should always be down!
+     * @param armAbsoluteZeroOffset zeroOffset (in degrees) of abs enc, 0 should always be horizontal!
      * @param bottomLimit lowest value the arm can achieve (soft limit)
      * @param topLimit highest value the arm can achieve (soft limit)
      */

src/main/java/org/carlmontrobotics/lib199/SimpleMechs/Arm/SimpleArm.java

@@ -44,6 +44,8 @@ public class SimpleArm extends SubsystemBase {
 
   Timer armTimer = new Timer();
 
+  private final double defaultRelativeEncoderResetValue = -90;
+
   public enum ArmControlState {
     AUTO,
     MANUAL,
@@ -120,7 +122,7 @@ private void resetFeedbackEncoder() {
       armFeedbackEncoder.setPosition((armResetEncoder.getPosition() + armConfig.armAbsoluteZeroOffset)/armConfig.armAbsoluteGearReduction*armConfig.armRelativeGearReduction);
     }
     else {
-      armFeedbackEncoder.setPosition(0);
+      armFeedbackEncoder.setPosition(defaultRelativeEncoderResetValue);
     }
   }
 
@@ -145,7 +147,7 @@ private void autoArm() {
     }
 
     if (armConfig.armFeedForwardExists) {
-      feedforwardOutput = armConfig.armFeedForward.calculate(armGoal/360*2*Math.PI + Math.PI/2, 0);
+      feedforwardOutput = armConfig.armFeedForward.calculate(armGoal/360*2*Math.PI, 0);
     }
     else {
       feedforwardOutput = 0;