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lidar debugging

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This commit is contained in:
C4llSiqn
2025-01-30 16:32:45 -07:00
parent 42e7896f5f
commit 4afbf1656f
2 changed files with 4 additions and 4 deletions
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src/main/java/frc4388/robot/commands/LidarAlign.java
+3 -3
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@@ -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;