post revere changes

RobotsByTheC · Mar 26, 2024 · 127e8f7 · 127e8f7
1 parent 28d7135
commit 127e8f7
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Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/src/main/java/frc/robot/subsystems/leds/LEDSubsystem.java b/src/main/java/frc/robot/subsystems/leds/LEDSubsystem.java
@@ -77,7 +77,7 @@ public Command blinkGreen() {
   }
 
   public Command blinkPurple() {
-    return runAnimation(Animation.solid(Color.kPurple).blink(Seconds.of(1)));
+    return runAnimation(Animation.solid(Color.kPurple).blink(Seconds.of(.1)));
   }
 
   public Command blinkYellow() {

diff --git a/src/main/java/frc/robot/subsystems/shooter/ShooterSubsystem.java b/src/main/java/frc/robot/subsystems/shooter/ShooterSubsystem.java
@@ -84,10 +84,10 @@ public boolean atSpeakerSpeed() {
   public boolean atAmpSpeed() {
     boolean rightAtSpeed;
     boolean leftAtSpeed;
-    if (rSparkEncoder.getVelocity() > Constants.ShooterConstants.ampSpeed * .9 && rSparkEncoder.getVelocity() < Constants.ShooterConstants.ampSpeed*1.1)
+    if (rSparkEncoder.getVelocity() > Constants.ShooterConstants.ampSpeed * .8 && rSparkEncoder.getVelocity() < Constants.ShooterConstants.ampSpeed*1.2)
       rightAtSpeed = true;
     else rightAtSpeed = false;
-    if (lSparkEncoder.getVelocity() > Constants.ShooterConstants.ampSpeed * .9 && lSparkEncoder.getVelocity() < Constants.ShooterConstants.ampSpeed*1.1) // 1040.6 is amp speed
+    if (lSparkEncoder.getVelocity() > Constants.ShooterConstants.ampSpeed * .8 && lSparkEncoder.getVelocity() < Constants.ShooterConstants.ampSpeed*1.2) // 1040.6 is amp speed
       leftAtSpeed = true;
     else leftAtSpeed = false;
     return rightAtSpeed && leftAtSpeed;
@@ -122,7 +122,7 @@ public Command manualShootCommand() {
   public Command autoShootCommand1() {
     System.out.println("shoot commanded");
     // return run(this::spin).finallyDo(interrupted -> stopSpin());
-    return run(this::spin).until(this::atSpeakerSpeed).withTimeout(2);
+    return run(this::spin).until(this::atSpeakerSpeed).withTimeout(3);
   }
 
   public Command reverseShooterCommand() {