gg no more halfcourts

MillenniumFalcons · Aug 31, 2024 · 93a36d4 · 93a36d4
1 parent 87e8876
commit 93a36d4
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Showing 2 changed files with 12 additions and 12 deletions.
diff --git a/src/main/java/team3647/frc2024/constants/PivotConstants.java b/src/main/java/team3647/frc2024/constants/PivotConstants.java
@@ -92,17 +92,17 @@ public class PivotConstants {
         kMasterSpeakerMap.put(1.0, 60.0);
         kMasterSpeakerMap.put(1.5, 60.0); //
         kMasterSpeakerMap.put(2.0, 49.0); //
-        kMasterSpeakerMap.put(2.5, 43.0); //
-        kMasterSpeakerMap.put(3.0, 38.0); //
-        kMasterSpeakerMap.put(3.5, 33.5); //
-        kMasterSpeakerMap.put(4.0, 31.0); //
-        kMasterSpeakerMap.put(4.5, 29.0); //
-        kMasterSpeakerMap.put(5.0, 27.5); //
+        kMasterSpeakerMap.put(2.5, 45.0); //
+        kMasterSpeakerMap.put(3.0, 35.0); //
+        kMasterSpeakerMap.put(3.5, 31.7); //
+        kMasterSpeakerMap.put(4.0, 30.0); //
+        kMasterSpeakerMap.put(4.5, 27.9); //
+        kMasterSpeakerMap.put(5.0, 26.5); //
         kMasterSpeakerMap.put(5.5, 26.0); //
-        kMasterSpeakerMap.put(6.0, 24.5); //
-        kMasterSpeakerMap.put(6.5, 23.2); //
-        kMasterSpeakerMap.put(7.0, 22.0); //
-        kMasterSpeakerMap.put(7.5, 21.4); //
+        kMasterSpeakerMap.put(6.0, 23.4); //
+        kMasterSpeakerMap.put(6.52, 22.35); //
+        kMasterSpeakerMap.put(7.04, 22.0); //
+        kMasterSpeakerMap.put(7.4961, 20.7); //it stops working here
         kMasterSpeakerMap.put(8.0, 20.7); //
         kMasterSpeakerMap.put(8.5, 20.7); //
         kMasterSpeakerMap.put(20.0, 20.7); // //

diff --git a/src/main/java/team3647/frc2024/subsystems/Superstructure.java b/src/main/java/team3647/frc2024/subsystems/Superstructure.java
@@ -374,9 +374,9 @@ public Command stowFromShoot() {
 
     public Command stowFromManualShoot(){
         return Commands.sequence(
-            Commands.parallel(prep(), spinUp(), feed()).withTimeout(0.5),
+            Commands.parallel(prepManual(), spinUp(), feed()).withTimeout(0.6),
             Commands.parallel(
-                            pivotCommands.setAngle(() -> pivotAngleSupplier.getAsDouble()),
+                            pivotCommands.setAngle(() -> SmartDashboard.getNumber("pivot interp angle", pivotAngleSupplier.getAsDouble())),
                             shooterCommands.kill(),
                             kickerCommands.kill())
                     .withTimeout(0.1)