Correct arm gravity FF

Epsilon10 · Dec 23, 2018 · fbe5a11 · fbe5a11
1 parent 48f93b3
commit fbe5a11
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/arm/Arm.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/arm/Arm.java
@@ -62,7 +62,7 @@ public Arm(HardwareMap hardwareMap) {
         // of motion (e.g., gravity, kinetic friction, or a combination thereof), it may be
         // beneficial to compensate for it here (assuming no velocity PID) like so:
         // e.g., controller = new PIDFController(PID, kV, kA, kStatic,
-        //                                       angle -> kA * 9.81 * Math.cos(angle - VERT_ANGLE));
+        //                                       angle -> kA * 9.81 * Math.sin(angle - VERT_ANGLE));
         controller = new PIDFController(PID, kV, kA, kStatic);
         offset = motor.getCurrentPosition();
     }