pre practice match 2

Team334 · Mar 14, 2024 · 5592572 · 5592572
1 parent 0bd71b5
commit 5592572
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Showing 3 changed files with 3 additions and 3 deletions.
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -54,7 +54,7 @@ public static class CAN {
 
   public static class Speeds {
     public static final double SWERVE_DRIVE_SLOW_COEFF = .6; // Default driving speed
-    public static final double SWERVE_DRIVE_FAST_COEFF = .8;
+    public static final double SWERVE_DRIVE_FAST_COEFF = .85;
 
     public static final double SWERVE_DRIVE_MAX_SPEED = 4; // meters per second
     public static final double SWERVE_DRIVE_MAX_ANGULAR_SPEED = Math.PI * 1; // TODO: Get this value

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -172,7 +172,7 @@ private void configureBindings() {
       )
     );
 
-    _operatorController.R2().whileTrue(
+    _driveController.R2().whileTrue(
       new AutoAim(
         _shooterSubsystem,
         _elevatorSubsystem,

diff --git a/src/main/java/frc/robot/subsystems/VisionSubsystem.java b/src/main/java/frc/robot/subsystems/VisionSubsystem.java
@@ -73,7 +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