who is letting me commit to main

src/main/java/org/codeorange/frc2024/auto/AutoManager.java

@@ -20,6 +20,7 @@ public class AutoManager {
     private final TwoFarSourceSubwooferStart TWO_FAR_SOURCE_SUBWOOFER;
     private final ThreePointFiveFarSource THREE_PT_FIVE_FAR_SOURCE;
     private final FivePointFive FIVE_PT_FIVE;
+    private final FourPieceSource FOUR_PC;
     private final TunePathFollowerPID TUNE_PID;
 
     public static AutoManager getInstance() {
@@ -41,6 +42,7 @@ private AutoManager() {
         TWO_FAR_SOURCE_SUBWOOFER = new TwoFarSourceSubwooferStart();
         THREE_PT_FIVE_FAR_SOURCE = new ThreePointFiveFarSource();
         FIVE_PT_FIVE = new FivePointFive();
+        FOUR_PC = new FourPieceSource();
         TUNE_PID = new TunePathFollowerPID();
     }
 
@@ -58,6 +60,7 @@ public void loadAuto(int key) {
             case 9 -> selectedRoutine = TWO_FAR_SOURCE_SUBWOOFER;
             case 10 -> selectedRoutine = THREE_PT_FIVE_FAR_SOURCE;
             case 11 -> selectedRoutine = FIVE_PT_FIVE;
+            case 12 -> selectedRoutine = FOUR_PC;
             case 100 -> selectedRoutine = TUNE_PID;
         }
         System.out.println("Selected routine " + selectedRoutine.getClass().getName());

src/main/java/org/codeorange/frc2024/auto/actions/DrivePath.java

@@ -37,7 +37,7 @@ public void start() {
         pathTimer.start();
 
         PIDController translationController = new PIDController(7, 0, 0.0);
-        PIDController rotationController = new PIDController(3.5, 0, 0.0);
+        PIDController rotationController = new PIDController(3, 0, 0.0);
         choreoController = Choreo.choreoSwerveController(translationController, translationController, rotationController);
         Logger.recordOutput("Auto/Final Pose", trajectory.getFinalState().getPose());
     }

src/main/java/org/codeorange/frc2024/auto/routines/FourPieceSource.java

@@ -30,7 +30,6 @@ protected void configureRoutine() {
                 new SeriesAction(
                         new Wait(1.18),
                         new RunKicker(),
-                        new Stow(),
                         new GroundIntake(),
                         new ShootFromGround(19)
                 )

src/main/java/org/codeorange/frc2024/robot/Constants.java

@@ -125,9 +125,9 @@ public static class Ports {
             }
             case HALEIWA -> {
                 FL_ABSOLUTE_ENCODER_OFFSET = -0.16748046875;
-                BL_ABSOLUTE_ENCODER_OFFSET = -0.521728515625;
-                FR_ABSOLUTE_ENCODER_OFFSET = -0.836181640625;
-                BR_ABSOLUTE_ENCODER_OFFSET = -0.453857421875;
+                BL_ABSOLUTE_ENCODER_OFFSET = -0.523681640625;
+                FR_ABSOLUTE_ENCODER_OFFSET = -0.826904296875;
+                BR_ABSOLUTE_ENCODER_OFFSET = -0.424560546875;
                 WRIST_ABSOLUTE_ENCODER_OFFSET = 0.0739746;
                 ARM_ABSOLUTE_ENCODER_OFFSET = 0.3251953125;
             }

src/main/java/org/codeorange/frc2024/robot/Robot.java

@@ -206,6 +206,7 @@ public void robotInit() {
         autoChooser.addOption("Cursed path", 9);
         autoChooser.addOption("3.5 Far Source", 10);
         autoChooser.addOption("5.5", 11);
+        autoChooser.addOption("4 source", 12);
         autoChooser.addOption("Tune PID", 100);
         sideChooser.addDefaultOption("Blue", "blue");
         sideChooser.addOption("Red", "red");
@@ -452,7 +453,7 @@ public void teleopPeriodic() {
             shooter.stop();
         }
         if(xbox.getRisingEdge(XboxButtons.Y)) {
-            superstructure.wantedAngle = AngleLookupInterpolation.SHOOTER_ANGLE_BACK_LOW.get(drive.findDistanceToSpeaker())
+            superstructure.wantedAngle = AngleLookupInterpolation.SHOOTER_ANGLE_BACK_LOW.get(drive.findDistanceToSpeaker());
             superstructure.isFlipped = drive.isForward();
             superstructure.setGoalState(Superstructure.States.SPEAKER);
         }

src/main/java/org/codeorange/frc2024/subsystem/vision/Vision.java

@@ -82,7 +82,7 @@ private void processVisionData(VisionIO io, VisionIO.VisionInputs inputs) {
         if(Math.abs(drive.getPose().getRotation().minus(inputs.botPose2d.getRotation()).getDegrees()) > 5) return;
 
         //exit if tags are too far in auto
-        // if(inputs.avgDist > 4 && DriverStation.isAutonomous()) return;
+        if(inputs.avgDist > 4 && DriverStation.isAutonomous()) return;
 
 
         Logger.recordOutput("Vision/" + io.getName() + "/Accepted Pose", inputs.botPose2d);
@@ -97,7 +97,7 @@ private void processVisionData(VisionIO io, VisionIO.VisionInputs inputs) {
 
     public void updateBotOrientation(double yaw, double yawVel, double pitch, double pitchVel, double roll, double rollVel) {
         for(VisionIO io : visionIO) {
-            LimelightHelpers.SetRobotOrientation(io.getName(), yaw, yawVel, pitch, pitchVel, roll, rollVel);
+            LimelightHelpers.SetRobotOrientation(io.getName(), yaw, 0, 0, 0, 0, 0);
         }
     }
 }