depth looks good now

diff --git a/src/main/java/frc/robot/constants/FieldConstants.java b/src/main/java/frc/robot/constants/FieldConstants.java
index ab62d1942e50db6c966aba2863d7b0476b91af33..90f96c858348d8e0e8ed934c97f8c3cbedab51dc 100644 (file)
--- a/src/main/java/frc/robot/constants/FieldConstants.java
+++ b/src/main/java/frc/robot/constants/FieldConstants.java
@@ -59,7 +59,7 @@ public class FieldConstants {
     new Translation3d(FIELD_LENGTH/2, RIGHT_SIDE_TARGET, 0);
 
   public static final Translation3d ALLIANCE_LEFT_BLUE =
-    new Translation3d(BLUE_BORDER - 2.2, LEFT_SIDE_TARGET, 0); // previous hub + a few feet further back
+    new Translation3d(BLUE_BORDER - 3.2, LEFT_SIDE_TARGET, 0); // previous hub + a few feet further back
 
   public static final Translation3d ALLIANCE_RIGHT_BLUE =
     new Translation3d(BLUE_BORDER - 2.2, RIGHT_SIDE_TARGET, 0);
@@ -68,7 +68,8 @@ public class FieldConstants {
     new Translation3d(RED_BORDER + 2.2, LEFT_SIDE_TARGET, 0); // previous hub + a few feet further back
 
   public static final Translation3d ALLIANCE_RIGHT_RED =
-    new Translation3d(RED_BORDER + 2.2, RIGHT_SIDE_TARGET, 0);
+    new Translation3d(RED_BORDER + 3.2
+    , RIGHT_SIDE_TARGET, 0);
 
   public static final Translation3d ALLIANCE_CENTER_BLUE =
     new Translation3d(BLUE_BORDER - 2, FIELD_WIDTH/2, 0);

diff --git a/src/main/java/frc/robot/constants/ShuttleInterpolation.java b/src/main/java/frc/robot/constants/ShuttleInterpolation.java
index 58e59ee0873cfd430d3cc3d59e6060e37d4ca626..53ff569ad3e59e77e718b420c38464048c4ecdf6 100644 (file)
--- a/src/main/java/frc/robot/constants/ShuttleInterpolation.java
+++ b/src/main/java/frc/robot/constants/ShuttleInterpolation.java
@@ -22,6 +22,7 @@ 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