oincrease angle increase rpm feed

Author: davidchen20

src/main/java/frc/robot/BuildConstants.java

@@ -5,12 +5,12 @@ public final class BuildConstants {
   public static final String MAVEN_GROUP = "";
   public static final String MAVEN_NAME = "2024RobotCode";
   public static final String VERSION = "unspecified";
-  public static final int GIT_REVISION = 349;
-  public static final String GIT_SHA = "e06112e177790ef204ee1fe37177bf842824e43f";
-  public static final String GIT_DATE = "2024-09-05 15:20:31 EDT";
+  public static final int GIT_REVISION = 350;
+  public static final String GIT_SHA = "d3a4b77fb70a2d760a10eb947609fad05b79f577";
+  public static final String GIT_DATE = "2024-09-06 09:19:32 EDT";
   public static final String GIT_BRANCH = "pre-goonettes";
-  public static final String BUILD_DATE = "2024-09-06 04:55:48 EDT";
-  public static final long BUILD_UNIX_TIME = 1725612948700L;
+  public static final String BUILD_DATE = "2024-09-08 07:29:40 EDT";
+  public static final long BUILD_UNIX_TIME = 1725794980725L;
   public static final int DIRTY = 1;
 
   private BuildConstants() {}

src/main/java/frc/robot/commands/AimbotStatic.java

@@ -120,7 +120,7 @@ private double calculateShooterSpeed(double distanceToSpeakerFeet) {
   }
 
   private double calculatePivotAngleDeg(double distanceToSpeakerMeter) {
-    double shooterOffset = 0.5;
+    double shooterOffset = 1.323;
     pivotSetpointDeg =
         Units.radiansToDegrees(Math.atan(2.1 / distanceToSpeakerMeter)) + shooterOffset;
     if (Units.metersToFeet(distanceToSpeakerMeter) > 12.5) {

src/main/java/frc/robot/commands/AimbotTele.java

@@ -129,7 +129,7 @@ private double calculateShooterSpeed(double distanceToSpeakerFeet) {
   }
 
   private double calculatePivotAngleDeg(double distanceToSpeakerMeter) {
-    double shooterOffset = 0.5;
+    double shooterOffset = 1.323;
     pivotSetpointDeg =
         Units.radiansToDegrees(Math.atan(2.1 / distanceToSpeakerMeter)) + shooterOffset;
     if (Units.metersToFeet(distanceToSpeakerMeter) > 12.5) {

src/main/java/frc/robot/commands/DriveCommands.java

@@ -24,7 +24,6 @@
 import edu.wpi.first.wpilibj.DriverStation.Alliance;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
-import edu.wpi.first.wpilibj2.command.ConditionalCommand;
 import edu.wpi.first.wpilibj2.command.InstantCommand;
 import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
@@ -122,7 +121,7 @@ public static Command intakeCommand(
                         turnToSourceSupplier),
                     new PivotIntakeTele(pivot, intake, shooter, led, false, false)));
       }
-      //TODO rewrite above to condense, example below
+      // TODO rewrite above to condense, example below
       // return new ConditionalCommand(
       //         new InstantCommand(() -> {}),
       //         new ConditionalCommand(

src/main/java/frc/robot/commands/TurnToAmpCorner.java

@@ -71,7 +71,7 @@ public TurnToAmpCorner(
   @Override
   public void initialize() {
     pivot.setPivotGoal(50);
-    shooter.setFlywheelRPMs(3700, 2700);
+    shooter.setFlywheelRPMs(4000, 3000);
   }
 
   // Called every time the scheduler runs while the command is scheduled.