Semi-working trench

HHS-Team670 · Mar 2, 2020 · 3708122 · 3708122
1 parent 4b8db15
commit 3708122
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Showing 4 changed files with 5 additions and 5 deletions.
diff --git a/2020-Robot/src/main/java/frc/team670/robot/RobotContainer.java b/2020-Robot/src/main/java/frc/team670/robot/RobotContainer.java
@@ -172,7 +172,7 @@ public MustangCommand getAutonomousCommand() {
       // shooter, indexer, turret, coprocessor);
       // new AutoShootThenTimeDrive(driveBase, intake, conveyor, shooter, indexer, turret);
       //new ShootFromAngleThenTimeDrive(-166, -0.3, driveBase, intake, conveyor, shooter, indexer, turret);
-      new ToTrenchRunAndShoot(-27, -10, driveBase, intake, conveyor, indexer, turret, shooter);
+      new ToTrenchRunAndShoot(-25, -7, driveBase, intake, conveyor, indexer, turret, shooter);
 }
 
   public static void autonomousInit(){

diff --git a/2020-Robot/src/main/java/frc/team670/robot/commands/auton/ToTrenchRunAndShoot.java b/2020-Robot/src/main/java/frc/team670/robot/commands/auton/ToTrenchRunAndShoot.java
@@ -67,8 +67,8 @@ public ToTrenchRunAndShoot(double initAng, double trenchAng, DriveBase driveBase
                     new TimedDrive(6.2, 0.12, driveBase),
                     new RotateToAngle(turret, trenchAng)
                 ),
-                // new StartShooter(shooter),
-                // new Shoot(shooter),
+                new StartShooter(shooter),
+                new Shoot(shooter),
                 new EmptyRevolver(indexer),
                 new StopShooter(shooter)
         );

diff --git a/2020-Robot/src/main/java/frc/team670/robot/commands/vision/GetVisionData.java b/2020-Robot/src/main/java/frc/team670/robot/commands/vision/GetVisionData.java
@@ -41,7 +41,7 @@ public void initialize() {
 
     @Override
     public void execute() {
-        if(!runVisionOnce && System.currentTimeMillis()-startTime > 800){
+        if(!runVisionOnce && System.currentTimeMillis()-startTime > 3000){
             coprocessor.getLatestVisionData();
             runVisionOnce = true;
         }

diff --git a/2020-Robot/src/main/java/frc/team670/robot/subsystems/Shooter.java b/2020-Robot/src/main/java/frc/team670/robot/subsystems/Shooter.java
@@ -97,7 +97,7 @@ public Shooter() {
   }
 
   public double getStage2Velocity() {
-    return stage2_mainEncoder.getVelocity() * PULLEY_RATIO;
+    return stage2_mainEncoder.getVelocity();
   }
 
   public void run() {