found decent trim

Team334 · Apr 5, 2024 · 52b3a90 · 52b3a90
1 parent 9e92f40
commit 52b3a90
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Showing 3 changed files with 16 additions and 2 deletions.
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -165,6 +165,13 @@ public static class Presets {
       SHOOTER_DISTANCE_ANGLE.put(3.149, 35.13);
       SHOOTER_DISTANCE_ANGLE.put(3.500, 28.27);
       SHOOTER_DISTANCE_ANGLE.put(3.807, 33.56);
+
+      //SEPARTE
+
+      // SHOOTER_DISTANCE_ANGLE.put(1.2522372110383038, 50.09765625);
+      // SHOOTER_DISTANCE_ANGLE.put(2.110611636332603, 42.97694614955357);
+      // SHOOTER_DISTANCE_ANGLE.put(2.7223768570130944, 36.741420200892854);
+      // SHOOTER_DISTANCE_ANGLE.put(3.064532709736735, 35.127999441964285);
     };
 
     public static final InterpolatingDoubleTreeMap ELEVATOR_DISTANCE_HEIGHT = new InterpolatingDoubleTreeMap();
@@ -177,6 +184,12 @@ public static class Presets {
       ELEVATOR_DISTANCE_HEIGHT.put(3.149, 0.029);
       ELEVATOR_DISTANCE_HEIGHT.put(3.500, 0.010);
       ELEVATOR_DISTANCE_HEIGHT.put(3.807, 0.009);
+
+      //SEPARATE
+      // ELEVATOR_DISTANCE_HEIGHT.put(1.2522372110383038, 0.05915625);
+      // ELEVATOR_DISTANCE_HEIGHT.put(2.110611636332603, 0.027583007812499998);
+      // ELEVATOR_DISTANCE_HEIGHT.put(2.7223768570130944, 0.0274423828125);
+      // ELEVATOR_DISTANCE_HEIGHT.put(3.064532709736735, 0.0274541015625);
     }
   }
 

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -149,6 +149,9 @@ private void configureBindings() {
       new FeedActuate(_intakeSubsystem, ActuatorState.OUT, FeedMode.OUTTAKE)
     );
 
+    _operatorController.povRight().onTrue(_lerpSaver);
+    _operatorController.povLeft().onTrue(Commands.runOnce(_lerpSaver :: showCode));
+
     // operator bindings
     _operatorController.L1().whileTrue(new SpinShooter(_shooterSubsystem, ShooterState.SHOOT));
     _operatorController.L2().whileTrue(new SpinShooter(_shooterSubsystem, ShooterState.AMP));

diff --git a/src/main/java/frc/robot/subsystems/SwerveDriveSubsystem.java b/src/main/java/frc/robot/subsystems/SwerveDriveSubsystem.java
@@ -220,8 +220,6 @@ private boolean updateBotpose() {
 
     // UPDATE BOTPOSE WITH VISION
     if (visionBotpose.isPresent()) {
-      System.out.println("PRESENT");
-
       LimelightHelper.SetRobotOrientation(
         Limelights.MAIN,
         getHeading().getDegrees(),