From ca2e0cb9cda1421b754ae77b6cdf39ff55273c56 Mon Sep 17 00:00:00 2001 From: C4llSiqn <83995467+C4llSqin@users.noreply.github.com> Date: Fri, 21 Mar 2025 13:53:12 -0600 Subject: [PATCH] end of practice denver --- src/main/java/frc4388/robot/Constants.java | 2 +- src/main/java/frc4388/robot/RobotContainer.java | 4 ++++ 2 files changed, 5 insertions(+), 1 deletion(-) diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index 404dbc9..56d161a 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -337,7 +337,7 @@ public final class Constants { public static final double L3_DISTANCE_SCORE = HALF_ROBOT_SIZE + Units.inchesToMeters(5+1); public static final double L2_PREP_DISTANCE = HALF_ROBOT_SIZE + Units.inchesToMeters(6); - public static final double L2_SCORE_DISTANCE = HALF_ROBOT_SIZE + Units.inchesToMeters(0.5); + public static final double L2_SCORE_DISTANCE = HALF_ROBOT_SIZE + Units.inchesToMeters(0.5-2); public static final double ALGAE_REMOVAL_DISTANCE = HALF_ROBOT_SIZE; diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 52a1b7a..11135de 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -625,6 +625,10 @@ public class RobotContainer { new Trigger(() -> getDeadbandedDriverController().getPOV() == 270 && getDeadbandedDriverController().getLeftTriggerAxis() > 0.8) .onTrue(new InstantCommand(() -> AutoConstants.X_OFFSET_TRIM.stepDown())); + new Trigger(() -> getDeadbandedDriverController().getLeftTriggerAxis() > 0.8) + .onTrue(new InstantCommand(() -> {m_robotSwerveDrive.rotSpeedAdjust *= 2;})) + .onFalse(new InstantCommand(() -> {m_robotSwerveDrive.rotSpeedAdjust /= 2;})); + new Trigger(() ->getDeadbandedDriverController().getRightTriggerAxis() > 0.8) .onTrue(new InstantCommand(() -> m_robotSwerveDrive.startTurboPeriod())) .onFalse(new InstantCommand(() -> m_robotSwerveDrive.endSlowPeriod()));