accept tag max distance to 3.5 m, fix typo

diff --git a/src/main/java/frc/robot/commands/gpm/RunSpindexer.java b/src/main/java/frc/robot/commands/gpm/RunSpindexer.java
index f2ba4ba1f5be3842441ad0adf393a3d5563abd15..888df891c968ba0568ac7da5057f42ed887c5ee1 100644 (file)
--- a/src/main/java/frc/robot/commands/gpm/RunSpindexer.java
+++ b/src/main/java/frc/robot/commands/gpm/RunSpindexer.java
@@ -63,7 +63,7 @@ public class RunSpindexer extends Command {
             reversing = false;
             return; // this is so the balls don't fly out when unaligned
         }
-        boolean jammed = spindexer.getMotorOneVelocity() < SpindexerConstants.JAM_CURRENT_THRESHOLD && spindexer.getMotorOneStatorCurrent() > SpindexerConstants.JAM_CURRENT_THRESHOLD;
+        boolean jammed = spindexer.getMotorOneVelocity() < SpindexerConstants.JAM_VELOCITY_THRESHOLD && spindexer.getMotorOneStatorCurrent() > SpindexerConstants.JAM_CURRENT_THRESHOLD;
         Logger.recordOutput("SpindexerJammed", jammed);
         if (jam_debouncer.calculate(jammed)) {
             Logger.recordOutput("SpindexerJammedDebounced", jammed);

diff --git a/src/main/java/frc/robot/commands/gpm/Superstructure.java b/src/main/java/frc/robot/commands/gpm/Superstructure.java
index b28a907e7bbb4852c64681ace7b8e38715176497..0680b641ccde9d66ef0d312b919f2f75b5473db7 100644 (file)
--- a/src/main/java/frc/robot/commands/gpm/Superstructure.java
+++ b/src/main/java/frc/robot/commands/gpm/Superstructure.java
@@ -304,13 +304,13 @@ public class Superstructure extends Command {
         turretOffset = SmartDashboard.getNumber("OPERATOR: Turret Offset", turretOffset);
         SmartDashboard.putNumber("OPERATOR: Turret Offset", turretOffset);
 
-        turretOffset = SmartDashboard.getNumber("OPERATOR: Hood Offset", hoodOffset);
+        hoodOffset = SmartDashboard.getNumber("OPERATOR: Hood Offset", hoodOffset);
         SmartDashboard.putNumber("OPERATOR: Hood Offset", hoodOffset);
 
-        turretOffset = SmartDashboard.getNumber("OPERATOR: Phase Delay", phaseDelay);
+        phaseDelay = SmartDashboard.getNumber("OPERATOR: Phase Delay", phaseDelay);
         SmartDashboard.putNumber("OPERATOR: Phase Delay", phaseDelay);
 
-        turretOffset = SmartDashboard.getNumber("OPERATOR: ToF Adjustments", TOFAdjustment);
+        TOFAdjustment = SmartDashboard.getNumber("OPERATOR: ToF Adjustments", TOFAdjustment);
         SmartDashboard.putNumber("OPERATOR: ToF Adjustments", TOFAdjustment);
     }
 

diff --git a/src/main/java/frc/robot/constants/VisionConstants.java b/src/main/java/frc/robot/constants/VisionConstants.java
index d2303c592b265be0a05ab603600981c0641dee0b..635e3465ec41a2289e2d72c44f80e514f465a821 100644 (file)
--- a/src/main/java/frc/robot/constants/VisionConstants.java
+++ b/src/main/java/frc/robot/constants/VisionConstants.java
@@ -65,7 +65,7 @@ public class VisionConstants {
         /**
          * The maximum distance to the tag to use
          */
-        public static final double MAX_DISTANCE = 6;
+        public static final double MAX_DISTANCE = 3.5;
 
         /** If vision should use manual calculations (yawFunction-based vs referencePose-based). Changed to false to support gyro bias correction. */
         public static final boolean USE_MANUAL_CALCULATIONS = false;