Merge pull request #11 from ATAARobotics/Unstable

Fix auto i guess
ATAARobotics · Mar 2, 2022 · d32064c · d32064c
2 parents d935992 + 209abf0
commit d32064c
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Showing 3 changed files with 4 additions and 4 deletions.
diff --git a/src/main/java/frc/robot/AutoPaths.java b/src/main/java/frc/robot/AutoPaths.java
@@ -78,7 +78,7 @@ public AutoPaths() {
         ball4Quadrant2Shoot = new AutoCommand(
             Arrays.asList(
                 new Translation2d(meterConversion(6.6570), meterConversion(5.4252)),
-                new Translation2d(meterConversion(6.1570), meterConversion(6.4252))
+                new Translation2d(meterConversion(6.1570), meterConversion(6.5752))
             ),
             3.2 * Math.PI / 4
         );

diff --git a/src/main/java/frc/robot/subsystems/MagazineSubsystem.java b/src/main/java/frc/robot/subsystems/MagazineSubsystem.java
@@ -48,11 +48,11 @@ public void magazineOff() {
     }
 
     public boolean bottomDetector() {
-        return (bottomDetectors[0].getDistanceInches() > 0 && bottomDetectors[0].getDistanceInches() < 3) || (bottomDetectors[1].getDistanceInches() > 0 && bottomDetectors[1].getDistanceInches() < 3);
+        return (bottomDetectors[0].getDistanceInches() > 0 && bottomDetectors[0].getDistanceInches() < 4) || (bottomDetectors[1].getDistanceInches() > 0 && bottomDetectors[1].getDistanceInches() < 4);
     }
 
     public boolean topDetector() {
-        return (topDetectors[0].getDistanceInches() > 0 && topDetectors[0].getDistanceInches() < 3) || (topDetectors[1].getDistanceInches() > 0 && topDetectors[1].getDistanceInches() < 3);
+        return (topDetectors[0].getDistanceInches() > 0 && topDetectors[0].getDistanceInches() < 4) || (topDetectors[1].getDistanceInches() > 0 && topDetectors[1].getDistanceInches() < 4);
     }
 
     public boolean bottomDetectorOnly() {

diff --git a/src/main/java/frc/robot/subsystems/ShooterSubsystem.java b/src/main/java/frc/robot/subsystems/ShooterSubsystem.java
@@ -24,7 +24,7 @@ public void periodic() {
 
     public void autonomousMode() {
         lowSpeed = 0.5;
-        highFarSpeed = 0.8;
+        highFarSpeed = 0.83;
     }
 
     public void teleopMode() {