"Hopeful, yes I am, be hopefully today, take this music and use it, l…

…et it take you away!"
BaronClaps · Nov 20, 2024 · c1b3c9e · c1b3c9e
1 parent 84033b4
commit c1b3c9e
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Showing 2 changed files with 6 additions and 6 deletions.
diff --git a/TeamCode/src/main/java/indubitables/config/runmodes/Auto.java b/TeamCode/src/main/java/indubitables/config/runmodes/Auto.java
@@ -206,7 +206,7 @@ public void buildPaths() {
                     .setConstantHeadingInterpolation(Math.toRadians(180))
                     .addPath(new BezierLine(new Point(28, 10, Point.CARTESIAN), new Point(specimenSetPose)))
                     .setLinearHeadingInterpolation(Math.toRadians(180), specimenSetPose.getHeading())
-                    //.setZeroPowerAccelerationMultiplier(0.5)
+                    .setZeroPowerAccelerationMultiplier(0.5)
                     .build();
 
             grab1 = follower.pathBuilder()

diff --git a/TeamCode/src/main/java/indubitables/opmode/BlueObservation.java b/TeamCode/src/main/java/indubitables/opmode/BlueObservation.java
@@ -61,15 +61,15 @@ public void pathUpdate() {
                 break;
             case 3: //Waits until follower reaches it's position then begins the Specimen State Machine
                 if(!auto.follower.isBusy()) {
-                    auto.liftPIDF = false;
-                    auto.lift.manual(-0.4);
-                    setPathState(4);
+                    //auto.liftPIDF = false;
+                    //auto.lift.manual(-0.4);
+                    setPathState(5);
                 }
                 break;
             case 4:
                 if(pathTimer.getElapsedTimeSeconds() > 0.25) {
-                    auto.lift.manual(0);
-                    auto.startSpecimen();
+                    //auto.lift.manual(0);
+                    //auto.startSpecimen();
                     setPathState(5);
                 }
                 break;