paths

Team334 · Mar 14, 2024 · 554c564 · 554c564
1 parent d490dc3
commit 554c564
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Showing 3 changed files with 11 additions and 3 deletions.
diff --git a/src/main/deploy/pathplanner/autos/2 Piece Auton C.auto b/src/main/deploy/pathplanner/autos/2 Piece Auton C.auto
@@ -34,6 +34,12 @@
           "data": {
             "name": "shoot"
           }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "initiate"
+          }
         }
       ]
     }

diff --git a/src/main/java/frc/robot/subsystems/ShooterSubsystem.java b/src/main/java/frc/robot/subsystems/ShooterSubsystem.java
@@ -59,8 +59,8 @@ public ShooterSubsystem() {
     softLimits.ForwardSoftLimitThreshold = 69 * Constants.Physical.SHOOTER_ANGLE_GEAR_RATIO / 360;
     softLimits.ReverseSoftLimitThreshold = -25 * Constants.Physical.SHOOTER_ANGLE_GEAR_RATIO / 360;
 
-    softLimits.ForwardSoftLimitEnable = false;
-    softLimits.ReverseSoftLimitEnable = false;
+    softLimits.ForwardSoftLimitEnable = true;
+    softLimits.ReverseSoftLimitEnable = true;
 
     _angleMotor.getConfigurator().apply(softLimits);
 

diff --git a/src/main/java/frc/robot/subsystems/VisionSubsystem.java b/src/main/java/frc/robot/subsystems/VisionSubsystem.java
@@ -60,6 +60,8 @@ public double getLatency() {
    * @see Optional
    */
   public Optional<Pose2d> getBotpose() {
+    // return Optional.empty();
+
     if (!isApriltagVisible()) return Optional.empty();
 
     NetworkTableEntry botpose_entry = _limelight.getEntry("botpose_wpiblue");
@@ -71,7 +73,7 @@ public Optional<Pose2d> getBotpose() {
     int tags = (int) botpose_array[7];
     double distance = botpose_array[9];
 
-    if (tags < 2) return Optional.empty();
+    // if (tags < 2) return Optional.empty();
     if (distance > FieldConstants.TAG_DISTANCE_THRESHOLD) return Optional.empty();
 
     double botposeX = _xFilter.calculate(botpose_array[0]); // to get rid of the weird origin outlier