From e672d7eebb14716bb87c7aa8eda8cb82577b7c55 Mon Sep 17 00:00:00 2001 From: WesleyWong-972 Date: Wed, 29 Apr 2026 15:54:26 -0700 Subject: [PATCH] accept tag max distance to 3.5 m, fix typo --- src/main/java/frc/robot/commands/gpm/RunSpindexer.java | 2 +- src/main/java/frc/robot/commands/gpm/Superstructure.java | 6 +++--- src/main/java/frc/robot/constants/VisionConstants.java | 2 +- 3 files changed, 5 insertions(+), 5 deletions(-) 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; -- 2.47.3