c5c4 fix

hammerhead226 · Jul 14, 2024 · 412b564 · 412b564
1 parent 27f2e85
commit 412b564
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Showing 5 changed files with 17 additions and 22 deletions.
diff --git a/src/main/deploy/pathplanner/paths/$s!p-c5.path b/src/main/deploy/pathplanner/paths/$s!p-c5.path
@@ -16,12 +16,12 @@
     },
     {
       "anchor": {
-        "x": 6.622875308530888,
-        "y": 1.0307636758771277
+        "x": 7.087462049389147,
+        "y": 0.749493538930016
       },
       "prevControl": {
-        "x": 5.077044884487727,
-        "y": 1.0541853489686905
+        "x": 5.541631625345987,
+        "y": 0.7729152120215789
       },
       "nextControl": null,
       "isLocked": false,
@@ -45,7 +45,7 @@
   },
   "goalEndState": {
     "velocity": 2.94,
-    "rotation": -6.426543892586619,
+    "rotation": 0.0,
     "rotateFast": true
   },
   "reversed": false,

diff --git a/src/main/java/frc/robot/BuildConstants.java b/src/main/java/frc/robot/BuildConstants.java
@@ -5,12 +5,12 @@ public final class BuildConstants {
   public static final String MAVEN_GROUP = "";
   public static final String MAVEN_NAME = "2024RobotCode";
   public static final String VERSION = "unspecified";
-  public static final int GIT_REVISION = 293;
-  public static final String GIT_SHA = "62656a4a0f91444e0fb3a8e9ab45562931068b12";
-  public static final String GIT_DATE = "2024-07-12 09:13:05 EDT";
+  public static final int GIT_REVISION = 295;
+  public static final String GIT_SHA = "27f2e859da7d79f72bf78c2398a0616fb153576c";
+  public static final String GIT_DATE = "2024-07-13 07:55:33 EDT";
   public static final String GIT_BRANCH = "iri";
-  public static final String BUILD_DATE = "2024-07-12 13:08:57 EDT";
-  public static final long BUILD_UNIX_TIME = 1720804137401L;
+  public static final String BUILD_DATE = "2024-07-13 08:52:59 EDT";
+  public static final long BUILD_UNIX_TIME = 1720875179177L;
   public static final int DIRTY = 1;
 
   private BuildConstants() {}

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -55,7 +55,6 @@
 import frc.robot.commands.ShootNoteCenter;
 import frc.robot.commands.ShootNoteSource;
 import frc.robot.commands.StopIntakeFeed;
-import frc.robot.commands.TurnToAmp;
 import frc.robot.commands.TurnToAmpCorner;
 import frc.robot.commands.TurnToSpeaker;
 import frc.robot.statemachines.ClimbStateMachine;
@@ -929,8 +928,6 @@ private void manipControls() {
     //             .andThen(new WaitCommand(1))
     //             .andThen(new InstantCommand(shooter::stopFeeders, shooter)));
 
-
-
     manipRightBumper.whileTrue(new TurnToAmpCorner(drive, pivot, shooter, driveController));
 
     manipRightBumper.onFalse(

diff --git a/src/main/java/frc/robot/commands/TurnToAmp.java b/src/main/java/frc/robot/commands/TurnToAmp.java
@@ -70,15 +70,13 @@ public void execute() {
     if (DriverStation.getAlliance().isPresent()) this.alliance = DriverStation.getAlliance().get();
 
     if (alliance == DriverStation.Alliance.Red) {
-      targetAngle =
-          -90;;
-      pid.setSetpoint(
-          targetAngle);
+      targetAngle = -90;
+      ;
+      pid.setSetpoint(targetAngle);
     } else {
-      targetAngle =
-          90;;
-      pid.setSetpoint(
-          targetAngle);
+      targetAngle = 90;
+      ;
+      pid.setSetpoint(targetAngle);
     }
 
     Logger.recordOutput("target angle amp", targetAngle);

diff --git a/src/main/java/frc/robot/subsystems/led/LED_IOCANdle.java b/src/main/java/frc/robot/subsystems/led/LED_IOCANdle.java
@@ -60,7 +60,7 @@ public LED_IOCANdle(int channel, String CANBUS) {
   @Override
   public void updateInputs(LED_IOInputs inputs) {
     inputs.ledState = ledState;
-    inputs.currentAmps = candle.getCurrent();
+    // inputs.currentAmps = candle.getCurrent();
   }
 
   @Override