mostly working

CurtinFRC · Aug 18, 2024 · ec00b4d · ec00b4d
1 parent 22a1d26
commit ec00b4d
Show file tree

Hide file tree

Showing 10 changed files with 3,395 additions and 74 deletions.
diff --git a/src/main/deploy/choreo/TestShootOTF.1.traj b/src/main/deploy/choreo/TestShootOTF.1.traj
diff --git a/src/main/deploy/choreo/TestShootOTF.traj b/src/main/deploy/choreo/TestShootOTF.traj
diff --git a/src/main/deploy/pathplanner/autos/OTFtest.auto b/src/main/deploy/pathplanner/autos/OTFtest.auto
@@ -0,0 +1,25 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 0.7936393022537231,
+      "y": 6.636496543884277
+    },
+    "rotation": 57.29577951308232
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "TestShootOTF"
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": true
+}
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -28,16 +28,16 @@ public final class Constants {
   public static final double climberD = 0;
 
   public static final int intakePort = 32;
-  public static final int intakeFrontBeambreak = 6;
-  public static final int intakeBackBeambreak = 5;
+  public static final int intakeFrontBeambreak = 5;
+  public static final int intakeBackBeambreak = 6;
   public static final double intakeP = 3.896e-05;
   public static final double intakeI = 0;
   public static final double intakeD = 0;
   public static final double intakeS = 0.27754;
   public static final double intakeV = 0.0020349;
   public static final double intakeA = 0.00018939;
 
-  public static final double armP = 37.5;
+  public static final double armP = 10;
   public static final double armI = 0;
   public static final double armD = 0;
   public static final double armS = 0;