dfretf

Author: ShmayaR

src/main/java/frc/trigon/robot/commands/commandfactories/CoralPlacingCommands.java

@@ -25,7 +25,7 @@ public class CoralPlacingCommands {
     public static Command getScoreInReefCommand(boolean shouldScoreRight) {
         return new ConditionalCommand(
                 getAutonomouslyScoreCommand(shouldScoreRight),
-                getScoreCommand(shouldScoreRight),
+                getScoreCommand(),
                 () -> SHOULD_SCORE_AUTONOMOUSLY && REEF_CHOOSER.getScoringLevel() != ScoringLevel.L1
         ).onlyIf(CoralCollectionCommands::hasCoral);
     }
@@ -40,7 +40,7 @@ private static Command getAutonomouslyScoreCommand(boolean shouldScoreRight) {
         );
     }
 
-    private static Command getScoreCommand(boolean shouldScoreRight) {
+    private static Command getScoreCommand() {
         return new SequentialCommandGroup(
                 CoralCollectionCommands.getLoadCoralCommand(),
                 GeneralCommands.getFlippableOverridableArmCommand(REEF_CHOOSER::getArmElevatorState, true, CoralPlacingCommands::shouldReverseScore).until(OperatorConstants.CONTINUE_TRIGGER),

src/main/java/frc/trigon/robot/subsystems/armelevator/ArmElevatorConstants.java

@@ -55,7 +55,7 @@ public class ArmElevatorConstants {
             SHOULD_ELEVATOR_FOLLOWER_OPPOSE_MASTER = false;
     static final double
             ARM_DEFAULT_MAXIMUM_VELOCITY = RobotHardwareStats.isSimulation() ? 2.4614 : 2,
-            ARM_DEFAULT_MAXIMUM_ACCELERATION = RobotHardwareStats.isSimulation() ? 67.2344 : 3.5,
+            ARM_DEFAULT_MAXIMUM_ACCELERATION = RobotHardwareStats.isSimulation() ? 67.2344 : 3.2,
             ARM_DEFAULT_MAXIMUM_JERK = ARM_DEFAULT_MAXIMUM_ACCELERATION * 10,
             ELEVATOR_DEFAULT_MAXIMUM_VELOCITY = RobotHardwareStats.isSimulation() ? 25.178 : 21,
             ELEVATOR_DEFAULT_MAXIMUM_ACCELERATION = RobotHardwareStats.isSimulation() ? 80 : 55;
@@ -344,8 +344,8 @@ public enum ArmElevatorState {
         SCORE_PROCESSOR(Rotation2d.fromDegrees(0), 0.1, null, false, 0.4),
         COLLECT_ALGAE_L2(Rotation2d.fromDegrees(0), 0.603, null, false, 1),
         COLLECT_ALGAE_L3(Rotation2d.fromDegrees(0), 1.15, null, false, 1),
-        PREPARE_COLLECT_ALGAE_FLOOR(Rotation2d.fromDegrees(-32), 0.3, null, false, 1),
-        COLLECT_ALGAE_FLOOR(Rotation2d.fromDegrees(-32), 0.18, PREPARE_COLLECT_ALGAE_FLOOR, true, 1),
+        PREPARE_COLLECT_ALGAE_FLOOR(Rotation2d.fromDegrees(-32), 0.35, null, false, 1),
+        COLLECT_ALGAE_FLOOR(Rotation2d.fromDegrees(-32), 0.22, PREPARE_COLLECT_ALGAE_FLOOR, true, 1),
         COLLECT_ALGAE_LOLLIPOP(Rotation2d.fromDegrees(0), 0.15, null, false, 1);
 
 

src/main/java/frc/trigon/robot/subsystems/transporter/TransporterConstants.java

@@ -103,7 +103,7 @@ private static void configureBeamBreak() {
 
     public enum TransporterState {
         REST(0, 0),
-        COLLECT(-4, 5),
+        COLLECT(-3.5, 5),
         ALIGN_CORAL(-5, 6),
         HOLD_CORAL(-1, 1),
         EJECT(5, -5);