changes

diff --git a/src/main/java/frc/robot/commands/gpm/Superstructure.java b/src/main/java/frc/robot/commands/gpm/Superstructure.java
index fc709d5626d85256f12c6779796aef65cb19acb4..1f7737bf552f8734d5d99040047151a65c3044a0 100644 (file)
--- a/src/main/java/frc/robot/commands/gpm/Superstructure.java
+++ b/src/main/java/frc/robot/commands/gpm/Superstructure.java
@@ -63,7 +63,7 @@ public class Superstructure extends Command {
 
     private double hoodOffset = 0.0;
 
-    private double turretOffset = 5.0;
+    private double turretOffset = 0.0;
 
     private double distanceFromTarget = 0.0;
 

diff --git a/src/main/java/frc/robot/constants/ShuttleInterpolation.java b/src/main/java/frc/robot/constants/ShuttleInterpolation.java
index 0c4bd2ae1b7a241e8adb4b44e94d8d88dcc9d4b6..3d8074e1d31c8afec2d1361b326d941419cdf9ae 100644 (file)
--- a/src/main/java/frc/robot/constants/ShuttleInterpolation.java
+++ b/src/main/java/frc/robot/constants/ShuttleInterpolation.java
@@ -22,11 +22,10 @@ public class ShuttleInterpolation {
         shooterVelocityMap.put(4.0, 12.8);
         shooterVelocityMap.put(7.6, 19.0);
         shooterVelocityMap.put(11.4, 28.1); // was 25.2 before
-        shooterVelocityMap.put(16.54, 33.8); // untested
+        shooterVelocityMap.put(16.54, 44.8); // untested
         
         // always shoot at low angle to ground.
         newHoodMap.put(0.0, 60.0);
         newHoodMap.put(27.99, 60.0);
     }
-
 }

diff --git a/src/main/java/frc/robot/subsystems/spindexer/SpindexerConstants.java b/src/main/java/frc/robot/subsystems/spindexer/SpindexerConstants.java
index 6409a5ec250f9358c23e3fa1462eb07d8a83f980..a644b98cf94e86ed47e68151192ac5256a86980d 100644 (file)
--- a/src/main/java/frc/robot/subsystems/spindexer/SpindexerConstants.java
+++ b/src/main/java/frc/robot/subsystems/spindexer/SpindexerConstants.java
@@ -5,7 +5,7 @@ public class SpindexerConstants {
     public static final double currentLimit = 40; // A
     public static final double spindexerMaxPower = 1.00; 
     public static final double spindexerReversePower = -1.00;
-    public static final double CURRENT_SPIKE_LIMIT = 100;
+    public static final double CURRENT_SPIKE_LIMIT = 150;
     public static final double CURRENT_TIME_LIMIT = 1.0; //s
     public static final double JAM_CURRENT_THRESHOLD = 75.0; // A
     public static final double JAM_DEBOUNCE_TIME = 0.3; // seconds