Intake setpoint calibration

Iron-Panthers · Nov 10, 2023 · ad8b70f · ad8b70f
1 parent bd079c1
commit ad8b70f
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Showing 2 changed files with 5 additions and 4 deletions.
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -202,12 +202,12 @@ public static final class Ports {
     public static final class Setpoints {
       public static final ElevatorState STOWED =
           new ElevatorState(MIN_EXTENSION_INCHES, MIN_ANGLE_DEGREES);
-      public static final ElevatorState SHELF_INTAKE_CONE = new ElevatorState(20, 20);
-      public static final ElevatorState SHELF_INTAKE_CUBE = new ElevatorState(20, 20);
+      public static final ElevatorState SHELF_INTAKE_CONE = new ElevatorState(47.3, 68.5);
+      public static final ElevatorState SHELF_INTAKE_CUBE = new ElevatorState(43.2, 68.5);
       public static final ElevatorState GROUND_INTAKE_CONE =
           new ElevatorState(MIN_EXTENSION_INCHES, 75);
       public static final ElevatorState GROUND_INTAKE_CUBE =
-          new ElevatorState(MIN_EXTENSION_INCHES, 90);
+          new ElevatorState(MIN_EXTENSION_INCHES, 81.4);
       public static final ElevatorState SCORE_HIGH_CONE = new ElevatorState(43, 52.5);
       public static final ElevatorState SCORE_HIGH_CUBE = new ElevatorState(53.8, 74.5);
       public static final ElevatorState SCORE_MID_CONE = new ElevatorState(22.5, 35.5);
@@ -267,7 +267,7 @@ public static final class Ports {
           NodeType.CONE.atHeight(Height.HIGH),
           List.of(
               new ScoreStep(Elevator.Setpoints.SCORE_HIGH_CONE).canWaitHere(),
-              new ScoreStep(Elevator.Setpoints.SCORE_HIGH_CONE, IntakeSubsystem.Modes.OUTTAKE)),
+              new ScoreStep(new ElevatorState(22.5, 0), IntakeSubsystem.Modes.OUTTAKE)),
           NodeType.CONE.atHeight(Height.MID),
           List.of(
               new ScoreStep(Elevator.Setpoints.SCORE_MID_CONE).canWaitHere(),

diff --git a/src/main/java/frc/robot/commands/GroundPickupCommand.java b/src/main/java/frc/robot/commands/GroundPickupCommand.java
@@ -12,6 +12,7 @@
 import frc.robot.subsystems.IntakeSubsystem;
 import frc.robot.subsystems.IntakeSubsystem.Modes;
 import java.util.function.BooleanSupplier;
+import java.util.function.Supplier;
 
 // NOTE:  Consider using this command inline, rather than writing a subclass.  For more
 // information, see: