Power port

src/main/deploy/Robot Data - Distances.csv

@@ -4,10 +4,12 @@ Distance (in),Hood Ext. (u),Drum Velocity (u/ds),Center Displacment (deg)
 103,19,6600,1,
 126.6,20.25,7000,1.5,
 156.6,23,7500,1.5,
-174,30,12000,1.5,
-180,30,12000,1.3,
-185.85,30,12000,1.3,
-231,28.8,9500,1.8,
-245,28.8,9500,1.8,
-262,28.8,9500,1.8,
-999,28.8,9500,1.8,
+174,28,12000,1.5,
+180,28,12000,1.3,
+185.85,28,12000,1.3,
+187,28.4,12000,1.3
+200,28.4,12000,1.3
+231,28.4,12000,1.8,
+245,28.8,12000,1.8,
+262,28.8,12000,1.8,
+999,28.8,12000,1.8,

src/main/deploy/Robot Data - DistancesOLD.csv

@@ -47,3 +47,17 @@ HOLD
 
 
 
+Distance (in),Hood Ext. (u),Drum Velocity (u/ds),Center Displacment (deg)
+0,16,6000,1,
+65.9,16,6000,1,
+103,19,6600,1,
+126.6,20.25,7000,1.5,
+156.6,23,7500,1.5,
+174,28.5,13000,1.5,
+180,28.5,13000,1.3,
+185.85,28.5,13000,1.3,
+190,28.5,13000,1.9
+231,28.5,13000,1.8,
+245,28.8,13000,1.8,
+262,28.8,13000,1.8,
+999,28.8,13000,1.8,

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

@@ -163,7 +163,7 @@ public class RobotContainer {
         // runs the hood with joystick
         m_robotShooterHood.setDefaultCommand(new RunHoodWithJoystick(m_robotShooterHood, getOperatorController()));
         // moves the drum not
-        m_robotShooter.setDefaultCommand(new RunCommand(() -> m_robotShooter.runDrumShooter(0.2), m_robotShooter));
+        m_robotShooter.setDefaultCommand(new RunCommand(() -> m_robotShooter.runDrumShooterVelocityPID(12000), m_robotShooter));
         // drives climber with input from triggers on the opperator controller
         m_robotClimber.setDefaultCommand(new RunClimberWithTriggers(m_robotClimber, getDriverController()));
         // drives the leveler with an axis input from the driver controller
@@ -233,7 +233,7 @@ public class RobotContainer {
             //.whenPressed(new ShootFullGroup(m_robotShooter, m_robotShooterAim, m_robotShooterHood, m_robotStorage), false);
             //.whenReleased(new ManageStorage(m_robotStorage, StorageMode.RESET));
             //.whenReleased(new RunCommand(() -> m_robotLime.limeOff()));
-            .whenPressed(new RunCommand(() -> m_robotStorage.runStorage(0.5), m_robotStorage))
+            .whenPressed(new RunCommand(() -> m_robotStorage.runStorage(1.0), m_robotStorage))
             .whenReleased(new InterruptSubystem(m_robotStorage));
 
         // extends or retracts the extender

src/main/java/frc4388/robot/commands/drive/DriveWithJoystick.java

@@ -94,7 +94,7 @@ public class DriveWithJoystick extends CommandBase {
     } 
   */
     
-    m_drive.driveWithInput(moveOutput, steerOutput);
+    m_drive.driveWithInput(moveOutput, steerOutput * .8);
   }
 
   // Called once the command ends or is interrupted.