decrease auto align timeout

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 = 341;
-  public static final String GIT_SHA = "52110d32d74cddd2d6fb389056bfb52d6b0a8d3e";
-  public static final String GIT_DATE = "2024-08-16 15:56:41 EDT";
+  public static final int GIT_REVISION = 343;
+  public static final String GIT_SHA = "cbd3125922c579935803217b3b80ae24f510c99a";
+  public static final String GIT_DATE = "2024-08-17 11:17:26 EDT";
   public static final String GIT_BRANCH = "marc";
-  public static final String BUILD_DATE = "2024-08-17 08:58:04 EDT";
-  public static final long BUILD_UNIX_TIME = 1723899484988L;
+  public static final String BUILD_DATE = "2024-08-17 16:11:47 EDT";
+  public static final long BUILD_UNIX_TIME = 1723925507047L;
   public static final int DIRTY = 1;
 
   private BuildConstants() {}

src/main/java/frc/robot/Constants.java

@@ -65,7 +65,7 @@ public static class ModuleConstants {
     public static final double DRIVE_GEAR_RATIO = 6.12;
     public static final double TURN_GEAR_RATIO = 150.0 / 7.0;
 
-    public static final double DRIVE_STATOR_CURRENT_LIMIT = 90.0;
+    public static final double DRIVE_STATOR_CURRENT_LIMIT = 75.0;
     public static final boolean DRIVE_STATOR_CURRENT_LIMIT_ENABLED = true;
     public static final double DRIVE_SUPPLY_CURRENT_LIMIT = 42.0;
     public static final boolean DRIVE_SUPPLY_CURRENT_LIMIT_ENABLED = true;

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

@@ -481,7 +481,7 @@ public RobotContainer() {
             .andThen(
                 new InstantCommand(() -> intake.stopRollers())
                     .andThen(new InstantCommand(() -> shooter.stopFeeders())))
-            .withTimeout(2.5));
+            .withTimeout(1.5));
 
     NamedCommands.registerCommand("C5", new InstantCommand(() -> drive.setNote(NOTE_POSITIONS.C5)));
     NamedCommands.registerCommand("C4", new InstantCommand(() -> drive.setNote(NOTE_POSITIONS.C4)));

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

@@ -158,7 +158,7 @@ private double calculatePivotAngleDeg(double distanceToSpeakerMeter) {
       return 34;
     }
     Logger.recordOutput("pivot target auto", pivotSetpointDeg);
-    return pivotSetpointDeg + 2.26;
+    return pivotSetpointDeg + 1.26;
   }
 
   private double calculateDistanceToSpeaker() {

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();

src/main/java/frc/robot/subsystems/Elevator/Elevator.java

@@ -115,7 +115,7 @@ public Elevator(ElevatorIO elevator, AmpBarIO ampBar) {
     extenderCurrent = extenderProfile.calculate(0, extenderCurrent, extenderGoal);
 
     maxVelocityDegPerSec = 1200;
-    maxAccelerationDegPerSecSquared = 800;
+    maxAccelerationDegPerSecSquared = 1550;
 
     barConstraints =
         new TrapezoidProfile.Constraints(maxVelocityDegPerSec, maxAccelerationDegPerSecSquared);