From 4afbf1656fa77a6d7fc4b3d5ebed8cefa089c933 Mon Sep 17 00:00:00 2001
From: C4llSiqn <83995467+C4llSqin@users.noreply.github.com>
Date: Thu, 30 Jan 2025 16:32:45 -0700
Subject: [PATCH] lidar debugging

---
 src/main/java/frc4388/robot/Constants.java           | 2 +-
 src/main/java/frc4388/robot/commands/LidarAlign.java | 6 +++---
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java
index 615b8ee..27a0469 100644
--- a/src/main/java/frc4388/robot/Constants.java
+++ b/src/main/java/frc4388/robot/Constants.java
@@ -237,7 +237,7 @@ public final class Constants {
             public static final Trim X_OFFSET_TRIM = new Trim("X Offset Trim", Double.MAX_VALUE, -Double.MAX_VALUE, 0.05, 0);
 
             public static final int LIDAR_DETECT_DISTANCE = 100; // Min distance to detect pole
-            public static final int LIDAR_DIO_CHANNEL = 0;
+            public static final int LIDAR_DIO_CHANNEL = 2;
             public static final int LIDAR_MICROS_TO_CM = 10;
             public static final int SECONDS_TO_MICROS = 1000000;
                     
diff --git a/src/main/java/frc4388/robot/commands/LidarAlign.java b/src/main/java/frc4388/robot/commands/LidarAlign.java
index 7f0e528..5ce0a7e 100644
--- a/src/main/java/frc4388/robot/commands/LidarAlign.java
+++ b/src/main/java/frc4388/robot/commands/LidarAlign.java
@@ -37,7 +37,7 @@ public class LidarAlign extends Command {
   @Override
   public void initialize() {
     this.currentFinderTick = 0;
-    this.speed = 0.05; // TODO: find good speed for this
+    this.speed = 0.1; // TODO: find good speed for this
     this.foundReef = false;
     this.headedRight = constructedHeadedRight;
   }
@@ -76,10 +76,10 @@ public class LidarAlign extends Command {
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    if (foundReef && lidar.withinDistance()) {
+    if (foundReef && lidar.withinDistance()) { // spot on
       swerveDrive.stopModules();
       return true;
-    } else if (foundReef && !lidar.withinDistance()) {
+    } else if (foundReef && !lidar.withinDistance()) { // over shot
       speed = speed / 2;
       headedRight = !headedRight;
       currentFinderTick = 0;