tuned red speaker shooting - it works!!

2491-NoMythic · Mar 28, 2024 · a4305c6 · a4305c6
1 parent 41a6b5f
commit a4305c6
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Showing 2 changed files with 6 additions and 5 deletions.
diff --git a/src/main/java/frc/robot/commands/IndexCommand.java b/src/main/java/frc/robot/commands/IndexCommand.java
@@ -123,7 +123,8 @@ public void execute() {
           } else {
             m_Indexer.off();
           }
-          shooter.shootRPSWithCurrent(LONG_SHOOTING_RPS, 10, 20);
+          // shooter.shootRPSWithCurrent(LONG_SHOOTING_RPS, 10, 20);
+          shooter.turnOff();
         }
       }
     } else {
@@ -140,7 +141,7 @@ public void execute() {
           shooter.shootRPS(PASS_RPS);
         } else {
           // shooter.turnOff();
-          shooter.shootRPS(LONG_SHOOTING_RPS);
+          shooter.shootRPSWithCurrent(LONG_SHOOTING_RPS, 20, 30);
         }
       }
       boolean indexer = false;

diff --git a/src/main/java/frc/robot/settings/Constants.java b/src/main/java/frc/robot/settings/Constants.java
@@ -439,10 +439,10 @@ public final class PS4Operator{
 
   public final class Field{
     public static final double ROBOT_BLUE_SPEAKER_X = 0.23;
-    public static final double ROBOT_RED_SPEAKER_X = 16;//16.38;//16.87; changed so that shots from the side wil aim to the opposite side, and bank in
+    public static final double ROBOT_RED_SPEAKER_X = 16.3;//16.38;//16.87; changed so that shots from the side wil aim to the opposite side, and bank in
     public static final double SHOOTER_BLUE_SPEAKER_X = 0.23;//16.38;//16.87; changed so that shots from the side wil aim to the opposite side, and bank in
-    public static final double SHOOTER_RED_SPEAKER_X = 16.87;//16.38; changed so that shots from the side wil aim to the opposite side, and bank in
-    public static final double SPEAKER_Y = 5.46;
+    public static final double SHOOTER_RED_SPEAKER_X = 16.4;//16.38; changed so that shots from the side wil aim to the opposite side, and bank in
+    public static final double SPEAKER_Y = 5.35;//5.46;
     public static final double SPEAKER_Z = 2.08;//1.5;//1.8;//2.08; //height of opening. Changed so that the smaller spekeaker_x shots will still go in
     public static final double MAX_SHOOTING_DISTANCE = 9;
     public static final double SHORT_RANGE_SHOOTING_DIST = 3;