Minor adjustments

Iron-Panthers · Nov 13, 2023 · 83c9bda · 83c9bda
1 parent 50fa951
commit 83c9bda
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Showing 2 changed files with 26 additions and 24 deletions.
diff --git a/src/main/deploy/pathplanner/n9 1cone + 2cube.path b/src/main/deploy/pathplanner/n9 1cone + 2cube.path
@@ -28,12 +28,12 @@
         "y": 0.927881929610043
       },
       "prevControl": {
-        "x": 6.281951021335144,
-        "y": 0.927881929610043
+        "x": 6.434980841491933,
+        "y": 1.0079752543846723
       },
       "nextControl": {
-        "x": 6.281951021335144,
-        "y": 0.927881929610043
+        "x": 6.434980841491933,
+        "y": 1.0079752543846723
       },
       "holonomicAngle": 180.0,
       "isReversal": true,
@@ -49,16 +49,16 @@
     },
     {
       "anchorPoint": {
-        "x": 3.9113149134660024,
-        "y": 0.8590750827313299
+        "x": 3.8770059034780004,
+        "y": 1.0079752543846723
       },
       "prevControl": {
-        "x": 5.111116118674311,
-        "y": 0.8842125690355614
+        "x": 5.076807108686309,
+        "y": 1.033112740688904
       },
       "nextControl": {
-        "x": 2.711513708257692,
-        "y": 0.8339375964270984
+        "x": 2.67720469826969,
+        "y": 0.9828377680804408
       },
       "holonomicAngle": 180.0,
       "isReversal": false,
@@ -74,16 +74,16 @@
     },
     {
       "anchorPoint": {
-        "x": 1.7934976702630545,
-        "y": 1.0256870348933067
+        "x": 1.7944909911172147,
+        "y": 1.036502855923861
       },
       "prevControl": {
-        "x": 2.7386732941904817,
-        "y": 0.8359255871143456
+        "x": 1.7184173870127115,
+        "y": 1.0840488584891768
       },
       "nextControl": {
-        "x": 2.7386732941904817,
-        "y": 0.8359255871143456
+        "x": 1.7184173870127115,
+        "y": 1.0840488584891768
       },
       "holonomicAngle": 180.0,
       "isReversal": true,
@@ -174,12 +174,12 @@
     },
     {
       "anchorPoint": {
-        "x": 1.7969415445701402,
-        "y": 1.2811909310466116
+        "x": 1.7944909911172147,
+        "y": 1.5880364856815128
       },
       "prevControl": {
-        "x": 3.027338540075417,
-        "y": 0.7707339568026702
+        "x": 3.024887986622492,
+        "y": 1.0775795114375717
       },
       "nextControl": null,
       "holonomicAngle": 180.0,

diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -255,7 +255,6 @@ public static final class Extensions {
       }
     }
   }
-
 
   public static final class Intake {
 
@@ -285,14 +284,17 @@ public static final class Setpoints {
 
     public static final class IntakeModes {
       public static final IntakeDetails INTAKE = IntakeDetails.simple(-141, .3);
-      public static final IntakeDetails INTAKE_LOW = IntakeDetails.simple(-175, .3);//FIXME change angle, try manually lower, 170 is temporary and needs to be tested (originally -175)
+      public static final IntakeDetails INTAKE_LOW =
+          IntakeDetails.simple(
+              -175, .3); // FIXME change angle, try manually lower, 170 is temporary and needs to be
+      // tested (originally -175)
       public static final IntakeDetails OUTTAKE = IntakeDetails.simple(-30, -0.3);
       public static final IntakeDetails DOWN = IntakeDetails.simple(-200, 0);
       public static final IntakeDetails STOWED = IntakeDetails.simple(Setpoints.MIN_ANGLE, 0);
       public static final IntakeDetails CLIMB = IntakeDetails.simple(-158, 0);
     }
   }
-  
+
   public static final Map<ScoreTypeIdentifier, List<ScoreStep>> SCORE_STEP_MAP =
       Map.of(
           NodeType.CONE.atHeight(Height.HIGH),
@@ -477,7 +479,7 @@ public static final class Ports {
 
     public static final class OuttakeModes {
       public static final OuttakeDetails HOLD =
-          new OuttakeDetails(0.11, Optional.empty(), Optional.empty());
+          new OuttakeDetails(0.13, Optional.empty(), Optional.empty());
 
       public static final OuttakeDetails INTAKE =
           new OuttakeDetails(.5, Optional.of(new OuttakeDetails.StatorLimit(80)), Optional.of(.5));