diff --git a/TeamCode/src/main/java/indubitables/config/runmodes/Auto.java b/TeamCode/src/main/java/indubitables/config/runmodes/Auto.java index 2f14cd8..b98cba2 100644 --- 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 index 43bb68a..27f8c8f 100644 --- 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;