optimization

diff --git a/src/main/java/frc/robot/subsystems/drivetrain/Drivetrain.java b/src/main/java/frc/robot/subsystems/drivetrain/Drivetrain.java
index 5b1de6d65a6a0e2e3237a53e033f9893f2295065..4804c89c82800f16e7a580004cbc7040161c6ebc 100644 (file)
--- a/src/main/java/frc/robot/subsystems/drivetrain/Drivetrain.java
+++ b/src/main/java/frc/robot/subsystems/drivetrain/Drivetrain.java
@@ -324,7 +324,10 @@ public class Drivetrain extends SubsystemBase {
             if (vision != null && visionEnabled && visionEnableTimer.hasElapsed(5)) {
                 vision.updateOdometry(poseEstimator, time -> getPoseAt(time).getRotation().getRadians(), slipped);
 
-                if (vision.canSeeTag()) {
+                // skip vision if no tags
+                if (!vision.canSeeTag()) {
+                    slipped = true;
+                } else {
                     slipped = false;
                     modulePoses.reset();
 

diff --git a/src/main/java/frc/robot/subsystems/shooter/Shooter.java b/src/main/java/frc/robot/subsystems/shooter/Shooter.java
index af8cfac5e7b45f1f6135b7ffcabdb436cb04eb63..b34a4e515368d1b8641138d0bcf445c5af906446 100644 (file)
--- a/src/main/java/frc/robot/subsystems/shooter/Shooter.java
+++ b/src/main/java/frc/robot/subsystems/shooter/Shooter.java
@@ -81,8 +81,10 @@ public class Shooter extends SubsystemBase implements ShooterIO {
         // shooterTargetSpeed = SmartDashboard.getNumber("Shooter Setpoint", shooterTargetSpeed);
         // SmartDashboard.putNumber("Shooter Setpoint", shooterTargetSpeed);
 
-        powerModifier = SmartDashboard.getNumber("OPERATOR: Shooter Power Modifier", powerModifier);
-        SmartDashboard.putNumber("OPERATOR: Shooter Power Modifier", powerModifier);
+        if (!Constants.DISABLE_SMART_DASHBOARD) {
+            powerModifier = SmartDashboard.getNumber("OPERATOR: Shooter Power Modifier", powerModifier);
+            SmartDashboard.putNumber("OPERATOR: Shooter Power Modifier", powerModifier);
+        }
         
         // Convert to RPS
         double targetVelocityRPS = Units.radiansToRotations(shooterTargetSpeed / (ShooterConstants.SHOOTER_LAUNCH_DIAMETER/2)) * powerModifier;

diff --git a/src/main/java/frc/robot/subsystems/turret/Turret.java b/src/main/java/frc/robot/subsystems/turret/Turret.java
index 18b79d9df2d470e19203040f63a7385ad83e97f0..e74cf337dfd8989f759d4f5a073db9929c45da62 100644 (file)
--- a/src/main/java/frc/robot/subsystems/turret/Turret.java
+++ b/src/main/java/frc/robot/subsystems/turret/Turret.java
@@ -234,9 +234,6 @@ public class Turret extends SubsystemBase implements TurretIO{
                // --- Visualization ---
                ligament.setAngle(Units.radiansToDegrees(getPositionRad()));
 
-               updateInputs();
-               Logger.processInputs("Turret", inputs);
-
                if (!Constants.DISABLE_SMART_DASHBOARD) {
                        SmartDashboard.putNumber("Turret position", Units.radiansToDegrees(getPositionRad()));
                        SmartDashboard.putBoolean("Turret Calibrated", !calibrating);