Fixes from BattleCry

Mechanical-Advantage · Jun 5, 2023 · f14117e · f14117e
1 parent 6e7a826
commit f14117e
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Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/src/main/java/org/littletonrobotics/frc2023/commands/AutoScore.java b/src/main/java/org/littletonrobotics/frc2023/commands/AutoScore.java
@@ -43,7 +43,7 @@ public static Transform2d getBendCompensation(boolean isFront) {
   public static final double minDriveY = 0.7;
   public static final double maxDriveY = FieldConstants.Community.leftY - 0.5;
   public static final double minArmExtension = 0.3;
-  public static final double maxArmExtensionHybrid = 0.4;
+  public static final double maxArmExtensionHybrid = 0.8;
   public static final double maxArmExtensionMid = 1.0;
   public static final double maxArmExtensionHigh = 1.35;
 
@@ -71,7 +71,7 @@ public AutoScore(
       Arm arm,
       Gripper gripper,
       Objective objective,
-      Supplier<Boolean> reachScoreDisable) {
+      Supplier<Boolean> reachScoreEnable) {
     this(
         drive,
         arm,
@@ -82,7 +82,7 @@ public AutoScore(
         () -> false,
         () -> false,
         () -> false,
-        reachScoreDisable);
+        reachScoreEnable);
   }
 
   /** Auto score a game piece on the grid with support for overrides. */

diff --git a/src/main/java/org/littletonrobotics/frc2023/subsystems/arm/ArmPose.java b/src/main/java/org/littletonrobotics/frc2023/subsystems/arm/ArmPose.java
@@ -111,7 +111,7 @@ public static enum Preset {
             new Translation2d(0.49, FieldConstants.LoadingZone.doubleSubstationShelfZ + 0.18),
             new Rotation2d())),
     CUBE_HANDOFF(new ArmPose(new Translation2d(0.44, 0.62), Rotation2d.fromDegrees(-80.0)), false),
-    FLOOR_CONE(new ArmPose(new Translation2d(-0.55, 0.25), Rotation2d.fromDegrees(-165.0)), false),
+    FLOOR_CONE(new ArmPose(new Translation2d(-0.55, 0.22), Rotation2d.fromDegrees(-175.0)), false),
     EJECT(new ArmPose(new Translation2d(0.25, 0.7), Rotation2d.fromDegrees(-10.0))),
     THROW(new ArmPose(new Translation2d(0.45, 0.85), Rotation2d.fromDegrees(20.0)));