end of load-in

roboblazers7617 · Apr 6, 2024 · aa53363 · aa53363
1 parent 72f3b36
commit aa53363
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Showing 2 changed files with 6 additions and 6 deletions.
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -69,7 +69,7 @@ public double elevator_target(){
 		}
 
 		public static final int AUTO_SHOOT_SPEED = 6000;
-		public static final int VARIABLE_DISTANCE_SHOT = 6000;
+		public static final int VARIABLE_DISTANCE_SHOT = 6500;
 	}
 
 	public static class ArmConstants {
@@ -97,7 +97,7 @@ public static class ArmConstants {
 		public static final double FLOOR_PICKUP = 3.75;
 		public static final double STOW_ANGLE = 20.0;
 		/** the mininum angle the arm can be where the elevator can pass over the bumper */
-		public static final double MIN_ABOVE_PASS_ANGLE = 20;
+		public static final double MIN_ABOVE_PASS_ANGLE = 18.5;
 
 		// Constants for extended state
 		public static final double EXTENDED_KS = 0.17; //these values are based on the test arm

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -200,15 +200,15 @@ private void configureOperatorBindings(){
 		operatorControllerCommands.b().and(() -> !isClimbMode).onTrue(MechanismCommands.IntakeSource(driverController, operatorController, arm, head));
 
 		operatorControllerCommands.leftTrigger().onTrue(MechanismCommands.PrepareShoot(operatorController, arm, head, ShootingPosition.AMP));
-		operatorControllerCommands.leftBumper().onTrue(MechanismCommands.PrepareShoot(operatorController, arm, head, drivetrain::getDistanceToSpeaker));
-
-		operatorControllerCommands.rightTrigger().onTrue(MechanismCommands.PrepareShoot(operatorController, arm, head, ShootingPosition.PODIUM)).onFalse(MechanismCommands.Shoot(driverController, operatorController, arm, head));
+		operatorControllerCommands.leftBumper().onTrue(MechanismCommands.Shoot(driverController, operatorController, arm, head));
 
+		operatorControllerCommands.rightTrigger().onTrue(MechanismCommands.PrepareShoot(operatorController, arm, head, drivetrain::getDistanceToSpeaker))
+				.onFalse(MechanismCommands.PrepareShoot(operatorController, arm, head, drivetrain::getDistanceToSpeaker).andThen(MechanismCommands.Shoot(arm, head)));	
 
 		operatorControllerCommands.rightBumper().onTrue(MechanismCommands.PrepareShoot(operatorController, arm, head, ShootingPosition.SUBWOOFER)).onFalse(MechanismCommands.Shoot(driverController, operatorController, arm, head));
 
 		operatorControllerCommands.povLeft().onTrue(head.StopIntake().andThen(head.SpinDownShooter()));
-		operatorControllerCommands.povRight().onTrue(MechanismCommands.Shoot(driverController, operatorController, arm, head));
+		operatorControllerCommands.povRight().onTrue(MechanismCommands.PrepareShoot(operatorController, arm, head, ShootingPosition.PODIUM)).onFalse(MechanismCommands.Shoot(driverController, operatorController, arm, head));
 
 
 		operatorControllerCommands.povUp().onTrue(Commands.runOnce(() -> climber.setSpeed(ClimberConstants.CLIMB_RATE, ClimberConstants.CLIMB_RATE), climber)).onFalse(Commands.runOnce(() -> climber.setSpeed(0, 0), climber));