adjusted shuttling for kousha

diff --git a/src/main/java/frc/robot/constants/FieldConstants.java b/src/main/java/frc/robot/constants/FieldConstants.java
index e6b7d12ecd9b719916dcecd0af81c4ed6f050e27..fc793c47f4bcdef0b77e5b28a699622ca231adb1 100644 (file)
--- a/src/main/java/frc/robot/constants/FieldConstants.java
+++ b/src/main/java/frc/robot/constants/FieldConstants.java
@@ -24,8 +24,8 @@ public class FieldConstants {
 
   public static final double RED_BORDER = FIELD_LENGTH/2 + Units.inchesToMeters(167.0);
   public static final double BLUE_BORDER = FIELD_LENGTH/2 - Units.inchesToMeters(167.0);
-  public static final double LEFT_SIDE_TARGET = FIELD_WIDTH * 0.215;
-  public static final double RIGHT_SIDE_TARGET = FIELD_WIDTH * 0.785;
+  public static final double LEFT_SIDE_TARGET = FIELD_WIDTH * 0.225;
+  public static final double RIGHT_SIDE_TARGET = FIELD_WIDTH * 0.775;
 
   /**The coordinate of the climb position */
   public static final Pose2d BLUE_CLIMB_LOCATION = new Pose2d(1.5, FIELD_WIDTH/2 - 2.0, new Rotation2d()); // TODO: find this

diff --git a/src/main/java/frc/robot/constants/ShuttleInterpolation.java b/src/main/java/frc/robot/constants/ShuttleInterpolation.java
index dac1640301caa57491b0fb6559cf9c781918751b..8db99a7f8ca1a96dcca76b3e21767fb73f2ac61e 100644 (file)
--- a/src/main/java/frc/robot/constants/ShuttleInterpolation.java
+++ b/src/main/java/frc/robot/constants/ShuttleInterpolation.java
@@ -21,7 +21,8 @@ public class ShuttleInterpolation {
         shooterVelocityMap.put(0.0, 9.0);
         shooterVelocityMap.put(4.0, 12.8);
         shooterVelocityMap.put(7.6, 19.0);
-        shooterVelocityMap.put(11.2, 25.2);
+        shooterVelocityMap.put(11.4, 30.1);
+        
 
 
         // always shoot at low angle to ground.