got rid of amp bar

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 = 340;
-  public static final String GIT_SHA = "8467354a722f04493be8bcf84f7096eb996dcebc";
-  public static final String GIT_DATE = "2024-08-16 15:09:54 EDT";
+  public static final int GIT_REVISION = 341;
+  public static final String GIT_SHA = "52110d32d74cddd2d6fb389056bfb52d6b0a8d3e";
+  public static final String GIT_DATE = "2024-08-16 15:56:41 EDT";
   public static final String GIT_BRANCH = "marc";
-  public static final String BUILD_DATE = "2024-08-16 15:51:28 EDT";
-  public static final long BUILD_UNIX_TIME = 1723837888747L;
+  public static final String BUILD_DATE = "2024-08-17 08:58:04 EDT";
+  public static final long BUILD_UNIX_TIME = 1723899484988L;
   public static final int DIRTY = 1;
 
   private BuildConstants() {}

src/main/java/frc/robot/RobotContainer.java

@@ -921,7 +921,7 @@ private void manipControls() {
         new InstantCommand(() -> pivot.setShootState(SHOOT_STATE.AIMBOT))
             .andThen(
                 new SequentialCommandGroup(
-                    new SetAmpBarTarget(5, 3, elevator),
+                    // new SetAmpBarTarget(5, 3, elevator),
                     new InstantCommand(() -> shooter.turnOffFan()),
                     new SetElevatorTarget(0, 0.5, elevator),
                     new InstantCommand(() -> elevator.setConstraints(30, 85)),

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

@@ -24,7 +24,7 @@ public ScoreAmp(Elevator elevator, Pivot pivot, Shooter shooter, Drive drive) {
             new InstantCommand(() -> elevator.setConstraints(100, 640), elevator),
             new InstantCommand(() -> shooter.setFlywheelRPMs(500, 700), shooter),
             new SetPivotTarget(Constants.PivotConstants.AMP_SETPOINT_DEG, pivot)),
-        new SetAmpBarTarget(195, 0, elevator),
+        // new SetAmpBarTarget(195, 0, elevator),
         new SetElevatorTarget(6, 1, elevator));
 
     // addCommands(

src/main/java/frc/robot/subsystems/drive/Drive.java

@@ -726,14 +726,20 @@ public Translation2d getTargetNoteLocation() {
 
     Translation2d visionCoords = getCachedNoteLocation();
     Translation2d fieldCoords = AllianceFlipUtil.apply(noteLocations.get(getNote()));
+
+    Logger.recordOutput(
+        "cached note distance to field ", getCachedNoteLocation().getDistance(fieldCoords));
+
+    Logger.recordOutput("note is new", noteImageIsNew());
+    Logger.recordOutput("note is not null", getCachedNoteLocation() != null);
+    Logger.recordOutput("note time aint -1", getCachedNoteTime());
+
     boolean useVisionNoteCoords =
         getCachedNoteLocation().getDistance(fieldCoords) < 1.323
             && getCachedNoteLocation() != null
             && getCachedNoteTime() != -1
             && noteImageIsNew();
 
-    Logger.recordOutput(
-        "cached note distance to field ", getCachedNoteLocation().getDistance(fieldCoords));
     Logger.recordOutput("use vision note coords", useVisionNoteCoords);
 
     if (useVisionNoteCoords) return visionCoords;