From 791849f266383f856d0f2debf5e6187b0880efc1 Mon Sep 17 00:00:00 2001 From: Wesley28w Date: Sat, 4 Apr 2026 07:31:24 -0700 Subject: [PATCH] adjusted shuttling for kousha --- src/main/java/frc/robot/constants/FieldConstants.java | 4 ++-- src/main/java/frc/robot/constants/ShuttleInterpolation.java | 3 ++- 2 files changed, 4 insertions(+), 3 deletions(-) diff --git a/src/main/java/frc/robot/constants/FieldConstants.java b/src/main/java/frc/robot/constants/FieldConstants.java index e6b7d12..fc793c4 100644 --- a/src/main/java/frc/robot/constants/FieldConstants.java +++ b/src/main/java/frc/robot/constants/FieldConstants.java @@ -24,8 +24,8 @@ public class FieldConstants { public static final double RED_BORDER = FIELD_LENGTH/2 + Units.inchesToMeters(167.0); public static final double BLUE_BORDER = FIELD_LENGTH/2 - Units.inchesToMeters(167.0); - public static final double LEFT_SIDE_TARGET = FIELD_WIDTH * 0.215; - public static final double RIGHT_SIDE_TARGET = FIELD_WIDTH * 0.785; + public static final double LEFT_SIDE_TARGET = FIELD_WIDTH * 0.225; + public static final double RIGHT_SIDE_TARGET = FIELD_WIDTH * 0.775; /**The coordinate of the climb position */ public static final Pose2d BLUE_CLIMB_LOCATION = new Pose2d(1.5, FIELD_WIDTH/2 - 2.0, new Rotation2d()); // TODO: find this diff --git a/src/main/java/frc/robot/constants/ShuttleInterpolation.java b/src/main/java/frc/robot/constants/ShuttleInterpolation.java index dac1640..8db99a7 100644 --- a/src/main/java/frc/robot/constants/ShuttleInterpolation.java +++ b/src/main/java/frc/robot/constants/ShuttleInterpolation.java @@ -21,7 +21,8 @@ public class ShuttleInterpolation { shooterVelocityMap.put(0.0, 9.0); shooterVelocityMap.put(4.0, 12.8); shooterVelocityMap.put(7.6, 19.0); - shooterVelocityMap.put(11.2, 25.2); + shooterVelocityMap.put(11.4, 30.1); + // always shoot at low angle to ground. -- 2.39.5