auto.

BaronClaps · Nov 8, 2024 · 7ba156f · 7ba156f
1 parent 42ae559
commit 7ba156f
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Showing 3 changed files with 6 additions and 6 deletions.
diff --git a/TeamCode/src/main/java/indubitables/config/util/FieldConstants.java b/TeamCode/src/main/java/indubitables/config/util/FieldConstants.java
@@ -41,8 +41,8 @@ public enum RobotStart {
     public static final Pose blueObservationElement3Pose = new Pose(20, 96, Math.toRadians(180));
     public static final Pose blueObservationElement3ControlPose = new Pose(20, 110);
     public static final Pose blueObservationSpecimenSetPose = new Pose(16, 25.5, Math.toRadians(180));
-    public static final Pose blueObservationSpecimenPickupPose = new Pose(7.75, 26, Math.toRadians(180));
-    public static final Pose blueObservationSpecimenPickup2Pose = new Pose(7.75, 26, Math.toRadians(180));
+    public static final Pose blueObservationSpecimenPickupPose = new Pose(7.75, 27, Math.toRadians(180));
+    public static final Pose blueObservationSpecimenPickup2Pose = new Pose(7.75, 27, Math.toRadians(180));
     public static final Pose blueObservationSpecimen1Pose = new Pose(34, 72.625, Math.toRadians(180));
     public static final Pose blueObservationSpecimen2Pose = new Pose(34, 74.625, Math.toRadians(180));
     public static final Pose blueObservationSpecimen3Pose = new Pose(30.25, 76.625, Math.toRadians(180));

diff --git a/TeamCode/src/main/java/indubitables/config/util/RobotConstants.java b/TeamCode/src/main/java/indubitables/config/util/RobotConstants.java
@@ -27,7 +27,7 @@ public class RobotConstants {
     public static double armSpecimen = 0.875;
     public static double armChamber = 0.625;
     public static double armInit = 0.15;
-    public static double armSpecimenGrab = 0.1175;
+    public static double armSpecimenGrab = 0.1225;
     public static double armSpecimenScore = 0.6;
 
     public static int liftToZero = 100;

diff --git a/TeamCode/src/main/java/indubitables/opmode/BlueObservation.java b/TeamCode/src/main/java/indubitables/opmode/BlueObservation.java
@@ -115,13 +115,13 @@ public void pathUpdate() {
                 }
                 break;
             case 11:
-                    if(pathTimer.getElapsedTimeSeconds() > 3) {
+                    if(pathTimer.getElapsedTimeSeconds() > 3.5) {
                         auto.claw.close();
                         setPathState(12);
                     }
                 break;
             case 12: //Waits 0.25 seconds and puts robot in neutral position
-                if(pathTimer.getElapsedTimeSeconds() > 0.5) {
+                if(pathTimer.getElapsedTimeSeconds() > 0.25) {
                     auto.init();
                     setPathState(13); }
                 break;
@@ -131,7 +131,7 @@ public void pathUpdate() {
                     setPathState(14);
                 break;
             case 14: //Starts the Chamber State Machine
-                if(pathTimer.getElapsedTimeSeconds() > 1.5) {
+                if(pathTimer.getElapsedTimeSeconds() > 1.25) {
                     auto.startChamber2();
                     setPathState(15); 
                 }