From: WesleyWong-972 <wesleycwong@gmail.com>
Date: Wed, 29 Apr 2026 22:54:26 +0000 (-0700)
Subject: accept tag max distance to 3.5 m, fix typo
X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=e672d7eebb14716bb87c7aa8eda8cb82577b7c55;p=FRC2026.git

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 f2ba4ba..888df89 100644
--- 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 b28a907..0680b64 100644
--- 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 d2303c5..635e346 100644
--- 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;