try the new encoders (need to zero)

Author: ryancave282

src/main/java/frc/robot/subsystems/carriage/Arm.java

@@ -15,7 +15,8 @@ public class Arm extends ArmAbsoluteTemplate {
     public static class Constants {
         public static final double MAX_POSITION = 215;
         public static final double MIN_POSITION = 45;
-        public static final double OFFSET = Math.PI;
+        // public static final double OFFSET = Math.PI;
+        public static final double OFFSET = 0;
     }
 
     private static SparkMaxEx motor = SparkMaxEx.create(17)
@@ -33,7 +34,7 @@ public static class Constants {
 
     private static final AbsoluteDutyEncoderRIO encoder = AbsoluteDutyEncoderRIO.create(0)
         .withDirection(EncoderDirection.Forward)
-        .withZeroOffset(0.0574237)
+        .withZeroOffset(-0.953304) // 5.989784902362448 RAD
         .withRange(1);
 
     public Arm(boolean isEnabled) {

src/main/java/frc/robot/subsystems/carriage/Pivot.java

@@ -15,7 +15,8 @@ public class Pivot extends ArmAbsoluteTemplate {
     public static class Constants {
         public static final double MAX_POSITION = 246;//200
         public static final double MIN_POSITION = 100;//100
-        public static final double OFFSET = Math.PI;
+        // public static final double OFFSET = Math.PI;
+        public static final double OFFSET = 0;
     }
 
     private static SparkMaxEx motor = SparkMaxEx.create(27)
@@ -26,9 +27,9 @@ public static class Constants {
         .withIsEnabled(true)
         .withSupplyCurrentLimit(50);
 
-    private static AbsoluteDutyEncoderRIO encoder = AbsoluteDutyEncoderRIO.create(1)
+    private static AbsoluteDutyEncoderRIO encoder = AbsoluteDutyEncoderRIO.create(2)
         .withDirection(EncoderDirection.Forward)
-        .withZeroOffset(0)
+        .withZeroOffset(-0.017564) // 0.11036038276843468 RAD
         .withRange(1);
         // .withSubsystemBase("pivot", Carriage.class.getSimpleName());