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Patribots4738 · Oct 31, 2024 · 92ae8b7 · 92ae8b7
1 parent 8b5f624
commit 92ae8b7
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Showing 6 changed files with 14 additions and 8 deletions.
diff --git a/src/main/deploy/pathplanner/paths/C1 L.path b/src/main/deploy/pathplanner/paths/C1 L.path
@@ -28,7 +28,13 @@
       "linkedName": "L"
     }
   ],
-  "rotationTargets": [],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 0.7,
+      "rotationDegrees": -167.01,
+      "rotateFast": false
+    }
+  ],
   "constraintZones": [
     {
       "name": "GrabVision",

diff --git a/src/main/deploy/pathplanner/paths/C2 L.path b/src/main/deploy/pathplanner/paths/C2 L.path
@@ -20,8 +20,8 @@
         "y": 6.499514282908736
       },
       "prevControl": {
-        "x": 5.272282384793014,
-        "y": 6.593200975274989
+        "x": 5.272284531787999,
+        "y": 6.593167959384961
       },
       "nextControl": null,
       "isLocked": false,
@@ -31,7 +31,7 @@
   "rotationTargets": [
     {
       "waypointRelativePos": 0.7,
-      "rotationDegrees": -169.07393297298722,
+      "rotationDegrees": -168.27,
       "rotateFast": false
     }
   ],

diff --git a/src/main/deploy/pathplanner/paths/C3 M.path b/src/main/deploy/pathplanner/paths/C3 M.path
@@ -67,7 +67,7 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": 177.65775021147127,
+    "rotation": 173.27446529773997,
     "rotateFast": false
   },
   "reversed": false,

diff --git a/src/main/deploy/pathplanner/paths/C4 R.path b/src/main/deploy/pathplanner/paths/C4 R.path
@@ -31,7 +31,7 @@
   "rotationTargets": [
     {
       "waypointRelativePos": 0.75,
-      "rotationDegrees": 144.2413348418667,
+      "rotationDegrees": 143.91,
       "rotateFast": false
     }
   ],

diff --git a/src/main/deploy/pathplanner/paths/C5 R.path b/src/main/deploy/pathplanner/paths/C5 R.path
@@ -31,7 +31,7 @@
   "rotationTargets": [
     {
       "waypointRelativePos": 0.7,
-      "rotationDegrees": 142.93487488555044,
+      "rotationDegrees": 144.48,
       "rotateFast": false
     }
   ],

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -314,7 +314,7 @@ private void configureTimedEvents() {
             .onTrue(pathPlannerStorage.updatePathViewerCommand())
             .onFalse(pathPlannerStorage.updatePathViewerCommand());
 
-        new Trigger(() -> PoseCalculations.isAlignedToAmp(robotPose2d)).or(shooterCalc.readyToShootSupplier())
+        new Trigger(() -> PoseCalculations.isAlignedToAmp(robotPose2d))
             .onTrue(driver.setRumble(() -> 0.5))
             .onFalse(driver.setRumble(() -> 0));