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BaronClaps · Nov 15, 2024 · 0d93b80 · 0d93b80
1 parent 206bed8
commit 0d93b80
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Showing 2 changed files with 16 additions and 16 deletions.
diff --git a/TeamCode/src/main/java/indubitables/config/util/RobotConstants.java b/TeamCode/src/main/java/indubitables/config/util/RobotConstants.java
@@ -6,9 +6,9 @@
 public class RobotConstants {
     public static double clawClose = 0.09;
     public static double clawOpen = 0.34;
-    public static double clawSpecimen = 0.23;
-    public static double clawTransfer = 0.25;
-    public static double clawScore = 0.4;
+    public static double clawSpecimen = 0.33; //.23
+    public static double clawTransfer = 0.215; //.25
+    public static double clawScore = 0.5; //.4
     public static double clawChamber = 0.5;
     public static double clawSpecimenScore = 0;
     public static double clawInit = 0.8;
@@ -18,13 +18,13 @@ public class RobotConstants {
     public static double intakeSpinOutPwr = -0.25;
     public static double intakeSpinStopPwr = 0;
 
-    public static double intakePivotTransfer= 0.045;
+    public static double intakePivotTransfer= 0.141; //.12
     public static double intakePivotGround = 0;
     public static double intakePivotSubmersible = 0.05;
 
-    public static double armTransfer= 0.05;
+    public static double armTransfer= 0.06; //.05
     public static double armScoring = 0.475;
-    public static double armSpecimen = 0.875;
+    public static double armSpecimen = 0.8; //.875
     public static double armChamber = 0.625;
     public static double armInit = 0.15;
     public static double armSpecimenGrab = 0.1075;

diff --git a/TeamCode/src/main/java/indubitables/opmode/BlueObservation.java b/TeamCode/src/main/java/indubitables/opmode/BlueObservation.java
@@ -169,23 +169,23 @@ public void pathUpdate() {
             case 20: //Starts the Chamber State Machine
                 if(pathTimer.getElapsedTimeSeconds() > 0) {
                     auto.startChamber2();
-                    auto.extend.toQuarter();
+                    auto.extend.toHalf();
                     setPathState(21);
                 }
                 break;
-            case 21:
-                if(pathTimer.getElapsedTimeSeconds() > 0.5) {
-                    auto.intake.pivotGround();
-                    auto.intake.spinIn();
-
-                    setPathState(22);
-                }
-            case 22: //Park and End the autonomous
+            case 21: //Park and End the autonomous
                 if(auto.actionNotBusy()) {
                     auto.follower.setMaxPower(1);
                     auto.follower.followPath(auto.park, true);
                     auto.extend.toFull();
-                    setPathState(-1); 
+                    setPathState(22);
+                }
+                break;
+            case 22:
+                if(pathTimer.getElapsedTimeSeconds() > 0.5) {
+                    auto.intake.pivotGround();
+                    auto.intake.spinIn();
+                    setPathState(-1);
                 }
                 break;
         }