Fix half stow override and force TeleopDriveController max velocity t…

…o 1 when not in demo mode
Mechanical-Advantage · Jun 13, 2024 · 529c9c6 · 529c9c6
1 parent b3610a7
commit 529c9c6
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Showing 2 changed files with 3 additions and 1 deletion.
diff --git a/src/main/java/org/littletonrobotics/frc2024/RobotContainer.java b/src/main/java/org/littletonrobotics/frc2024/RobotContainer.java
@@ -496,6 +496,8 @@ private void configureButtonBindings(boolean demo) {
                     TeleopDriveController.setVelocityScalar(demoSpeedChooser.get());
                     previousDemoSpeed.value = demoSpeedChooser.get();
                   }));
+    } else {
+      TeleopDriveController.setVelocityScalar(1.0);
     }
 
     // ------------- Driver Controls -------------

diff --git a/src/main/java/org/littletonrobotics/frc2024/subsystems/superstructure/arm/Arm.java b/src/main/java/org/littletonrobotics/frc2024/subsystems/superstructure/arm/Arm.java
@@ -160,7 +160,7 @@ public void setOverrides(
   private double getStowAngle() {
     if (DriverStation.isTeleopEnabled()
         && RobotState.getInstance().inCloseShootingZone()
-        && halfStowSupplier.getAsBoolean()) {
+        && !halfStowSupplier.getAsBoolean()) {
       return MathUtil.clamp(
           setpointState.position,
           minAngle.getRadians(),