feeding locaiton and amp speed

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 = 350;
-  public static final String GIT_SHA = "d3a4b77fb70a2d760a10eb947609fad05b79f577";
-  public static final String GIT_DATE = "2024-09-06 09:19:32 EDT";
+  public static final int GIT_REVISION = 351;
+  public static final String GIT_SHA = "7674857210fa4b588e1b24bd87aff4ff0b492160";
+  public static final String GIT_DATE = "2024-09-08 09:58:56 EDT";
   public static final String GIT_BRANCH = "pre-goonettes";
-  public static final String BUILD_DATE = "2024-09-08 07:29:40 EDT";
-  public static final long BUILD_UNIX_TIME = 1725794980725L;
+  public static final String BUILD_DATE = "2024-09-08 14:15:58 EDT";
+  public static final long BUILD_UNIX_TIME = 1725819358226L;
   public static final int DIRTY = 1;
 
   private BuildConstants() {}

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

@@ -415,7 +415,7 @@ public RobotContainer() {
             .andThen(
                 new InstantCommand(() -> intake.stopRollers())
                     .andThen(new InstantCommand(() -> shooter.stopFeeders())))
-            .withTimeout(1.5));
+            .withTimeout(1.7));
 
     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/ScoreAmp.java

@@ -22,7 +22,7 @@ public ScoreAmp(Elevator elevator, Pivot pivot, Shooter shooter, Drive drive) {
     addCommands(
         new ParallelCommandGroup(
             new InstantCommand(() -> elevator.setConstraints(100, 640), elevator),
-            new InstantCommand(() -> shooter.setFlywheelRPMs(500, 700), shooter),
+            new InstantCommand(() -> shooter.setFlywheelRPMs(350, 550), shooter),
             new SetPivotTarget(Constants.PivotConstants.AMP_SETPOINT_DEG, pivot)),
         // new SetAmpBarTarget(195, 0, elevator),
         new SetElevatorTarget(6, 1, elevator));

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

@@ -85,17 +85,17 @@ public void execute() {
           "trans2",
           new Translation2d(
               FieldConstants.fieldLength - drive.getPose().getX(),
-              (FieldConstants.fieldWidth - 2.5) - drive.getPose().getY()));
+              (FieldConstants.fieldWidth - 1.5) - drive.getPose().getY()));
       targetAngle =
           new Rotation2d(
                       FieldConstants.fieldLength - drive.getPose().getX(),
-                      (FieldConstants.fieldWidth - 2.5) - drive.getPose().getY())
+                      (FieldConstants.fieldWidth - 1.5) - drive.getPose().getY())
                   .getDegrees()
               + 180;
       pid.setSetpoint(
           new Rotation2d(
                       FieldConstants.fieldLength - drive.getPose().getX(),
-                      (FieldConstants.fieldWidth - 2.5) - drive.getPose().getY())
+                      (FieldConstants.fieldWidth - 1.5) - drive.getPose().getY())
                   .getDegrees()
               + 180);
       // pid.setSetpoint(
@@ -106,15 +106,15 @@ public void execute() {
       //         + 180);
     } else {
       // Logger.recordOutput("trans2", new Translation2d(0, FieldConstants.fieldWidth));
-      targetAngle = new Translation2d(0, (FieldConstants.fieldWidth - 2.5)).getAngle().getDegrees();
+      targetAngle = new Translation2d(0, (FieldConstants.fieldWidth - 1.5)).getAngle().getDegrees();
       // new Rotation2d(0, FieldConstants.fieldWidth).getDegrees() + 180;
       // pid.setSetpoint(
       //     new Rotation2d(0, FieldConstants.fieldWidth).getDegrees()
       //         + 180);
       pid.setSetpoint(
           new Rotation2d(
                       -drive.getPose().getX(),
-                      (FieldConstants.fieldWidth - 2.5) - drive.getPose().getY())
+                      (FieldConstants.fieldWidth - 1.5) - drive.getPose().getY())
                   .getDegrees()
               + 180);
       // pid.setSetpoint(