rainbow ryumble aimbot tele

davidchen20 · davidchen20 · commit cbd3125922c5 · 2024-08-17T11:17:26.000-04:00
diff --git a/src/main/java/frc/robot/commands/AimbotTele.java b/src/main/java/frc/robot/commands/AimbotTele.java
@@ -104,7 +104,7 @@ public void execute() {
     // }
   }
 
-  public void angleShooter() {
+ public void angleShooter() {
     if (DriverStation.getAlliance().isPresent()) this.alliance = DriverStation.getAlliance().get();
     // Logger.recordOutput("distance to speak", Units.metersToFeet(distanceToSpeakerMeter));
     distanceToSpeakerMeter = calculateDistanceToSpeaker();
@@ -115,7 +115,7 @@ public void angleShooter() {
       double shootingSpeed = calculateShooterSpeed(Units.metersToFeet(distanceToSpeakerMeter));
 
       shooter.setFlywheelRPMs(shootingSpeed, shootingSpeed + 100);
-    } else shooter.setFlywheelRPMs(5400 - 100, 5400 - 800);
+    } else shooter.setFlywheelRPMs(5400 - 200, 5400 - 400);
     pivot.setPivotGoal(calculatePivotAngleDeg(distanceToSpeakerMeter));
   }
 

Original file line number	Diff line number	Diff line change
`@@ -104,7 +104,7 @@ public void execute() {`
`104`	`104`	`// }`
`105`	`105`	`}`
`106`	`106`
`107`		`- public void angleShooter() {`
	`107`	`+ public void angleShooter() {`
`108`	`108`	`if (DriverStation.getAlliance().isPresent()) this.alliance = DriverStation.getAlliance().get();`
`109`	`109`	`// Logger.recordOutput("distance to speak", Units.metersToFeet(distanceToSpeakerMeter));`
`110`	`110`	`distanceToSpeakerMeter = calculateDistanceToSpeaker();`
`@@ -115,7 +115,7 @@ public void angleShooter() {`
`115`	`115`	`double shootingSpeed = calculateShooterSpeed(Units.metersToFeet(distanceToSpeakerMeter));`
`116`	`116`
`117`	`117`	`shooter.setFlywheelRPMs(shootingSpeed, shootingSpeed + 100);`
`118`		`- } else shooter.setFlywheelRPMs(5400 - 100, 5400 - 800);`
	`118`	`+ } else shooter.setFlywheelRPMs(5400 - 200, 5400 - 400);`
`119`	`119`	`pivot.setPivotGoal(calculatePivotAngleDeg(distanceToSpeakerMeter));`
`120`	`120`	`}`
`121`	`121`