fixes

src/main/java/frc4388/robot/Constants.java

@@ -85,7 +85,7 @@ public final class Constants {
     // swerve auto constants
     public static final PIDController X_CONTROLLER = new PIDController(0.5, 0.0, 0.0);
     public static final PIDController Y_CONTROLLER = new PIDController(2.0, 0.0, 0.0);
-    public static final ProfiledPIDController THETA_CONTROLLER = new ProfiledPIDController(15.0, 0.1, 0.3,
+    public static final ProfiledPIDController THETA_CONTROLLER = new ProfiledPIDController(1.0, 0.0, 0.0,
         new TrapezoidProfile.Constraints(Math.PI, Math.PI));
     public static final boolean PATH_RECORD_VELOCITY = true;
     public static final double PATH_MAX_VELOCITY = 5.0;
@@ -326,8 +326,8 @@ public final class Constants {
     public static final double TARGET_RADIUS = 4*12; //TODO: Convert to metric (does this still need to be converted?)
     public static final double H_FOV = 59.6;
     public static final double V_FOV = 45.7;
-    public static final double LIME_HIXELS = 920;
+    public static final double LIME_HIXELS = 640;
-    public static final double LIME_VIXELS = 720;
+    public static final double LIME_VIXELS = 480;
     public static final double TURRET_kP = 0.1;
 
     public static final double POINTS_THRESHOLD = 400;

src/main/java/frc4388/robot/Robot.java

@@ -121,7 +121,7 @@ public class Robot extends TimedRobot {
     });
 
     desmosServer.start();
-    m_robotContainer.m_robotVisionOdometry.setLEDs(false);
+    m_robotContainer.m_robotVisionOdometry.setLEDs(true);
     // DesmosServer.putTable("table", "x1", new double[] {44}, "y1", new double[] {0});
   }
 
@@ -183,7 +183,7 @@ public class Robot extends TimedRobot {
         LOGGER.log(Level.SEVERE, "Unable to record path to {0}", outputFile.getPath());
     }
 
-    m_robotContainer.m_robotVisionOdometry.setLEDs(false);
+    m_robotContainer.m_robotVisionOdometry.setLEDs(true);
   }
 
   @Override

src/main/java/frc4388/robot/RobotContainer.java

@@ -267,8 +267,8 @@ public class RobotContainer {
         .whenPressed(new InstantCommand(() -> m_robotClaws.toggleClaws(), m_robotClaws));
 
       // X > Toggles extender in and out
-    // new JoystickButton(getOperatorController(), XboxController.Button.kX.value)
+    new JoystickButton(getOperatorController(), XboxController.Button.kX.value)
-    //     .whenPressed(new ExtenderIntakeGroup(m_robotIntake, m_robotExtender));
+        .whenPressed(new ExtenderIntakeGroup(m_robotIntake, m_robotExtender));
 
       // A > Spit Out Ball
     new JoystickButton(getOperatorController(), XboxController.Button.kA.value)
@@ -281,10 +281,10 @@ public class RobotContainer {
     
 
       //! Test Buttons
-    new JoystickButton(getOperatorController(), XboxController.Button.kY.value)
+    // new JoystickButton(getOperatorController(), XboxController.Button.kY.value)
-     .whenPressed(new Shoot(m_robotSwerveDrive, m_robotBoomBoom, m_robotTurret, m_robotHood, m_robotVisionOdometry, false, false));
+    //  .whenPressed(new Shoot(m_robotSwerveDrive, m_robotBoomBoom, m_robotTurret, m_robotHood, m_robotVisionOdometry, false, false));
       
-    new JoystickButton(getOperatorController(), XboxController.Button.kX.value)
+    new JoystickButton(getOperatorController(), XboxController.Button.kY.value)
      .whileHeld(new TrackTarget(m_robotSwerveDrive, m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry));
 
     // new JoystickButton(getOperatorController(), XboxController.Button.kY.value)
@@ -425,7 +425,7 @@ public class RobotContainer {
     // *                                           new SequentialCommandGroup(buildAuto(5.0, 5.0, "Path1", "Path2", "Path3")),
     // *                                           new RunCommand(() -> m_robotIntake.runAtOutput(0.5))));
 
-    return new SequentialCommandGroup(buildAuto(1.0, 1.0, new InstantCommand(() -> m_robotSwerveDrive.m_gyro.reset()), "Move Forward")); // test command
+    return new SequentialCommandGroup(buildAuto(0.5, 0.5, new InstantCommand(() -> m_robotSwerveDrive.m_gyro.reset()), "Move Forward")); // test command
   }
 
   public static XboxController getDriverController() {

src/main/java/frc4388/robot/commands/ShooterCommands/TrackTarget.java

@@ -74,7 +74,7 @@ public class TrackTarget extends CommandBase {
       Point average = VisionOdometry.averagePoint(points);
       
       double output = (average.x - VisionConstants.LIME_HIXELS/2.d) / VisionConstants.LIME_HIXELS;
-      output *= 2;
+      output *= 1.3;
       
       m_turret.runTurretWithInput(output);
       double position = m_turret.m_boomBoomRotateEncoder.getPosition();

src/main/java/frc4388/robot/subsystems/SwerveDrive.java

@@ -228,7 +228,7 @@ public class SwerveDrive extends SubsystemBase {
    * Updates the field relative position of the robot.
    */
   public void updateOdometry() {
-    m_poseEstimator.update( getRegGyro(),
+    m_poseEstimator.update( new Rotation2d( (Math.PI * 2)- getRegGyro().getRadians()),
                             modules[0].getState(), 
                             modules[1].getState(), 
                             modules[2].getState(),