Fix camera offsets

team4909 · Feb 12, 2025 · 4545aaa · 4545aaa
1 parent e22eae0
commit 4545aaa
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Showing 3 changed files with 5 additions and 6 deletions.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -115,7 +115,7 @@ public RobotContainer() {
                             new Rotation3d(
                                     Units.degreesToRadians(0.0),
                                     Units.degreesToRadians(-25.414),
-                                    Units.degreesToRadians(-50)))));
+                                    Units.degreesToRadians(-40)))));
         } 
         else if (HALUtil.getSerialNumber().equals(TunerConstants.ROBOT2)) {
             m_vision = new Vision(drivetrain::addVisionMeasurement,
@@ -136,7 +136,7 @@ else if (HALUtil.getSerialNumber().equals(TunerConstants.ROBOT2)) {
                             new Rotation3d(
                                     Units.degreesToRadians(0.0),
                                     Units.degreesToRadians(-25.414),
-                                    Units.degreesToRadians(-20)))));
+                                    Units.degreesToRadians(-50)))));
         }
         else { 
             System.out.println("Unknown Robot");
@@ -205,9 +205,9 @@ private void configureBindings() {
         // new Rotation2d(-joystick.getLeftY(), -joystick.getLeftX()))));
 
         joystick.b().whileTrue(new DriveToPose(drivetrain,
-                new Transform2d(Units.inchesToMeters(-3), Units.inchesToMeters(4), new Rotation2d())));
+                new Transform2d(Units.inchesToMeters(-4.5), Units.inchesToMeters(0.5), new Rotation2d())));
         joystick.x().whileTrue(new DriveToPose(drivetrain,
-                new Transform2d(Units.inchesToMeters(-3), Units.inchesToMeters(17), new Rotation2d())));
+                new Transform2d(Units.inchesToMeters(-4.5), Units.inchesToMeters(13.5), new Rotation2d())));
 
         // joystick.x().whileTrue(new DriveToPose( new Pose2d(
         // Units.inchesToMeters(144.003)-Units.inchesToMeters(13),

diff --git a/src/main/java/frc/robot/subsystems/elevator/ElevatorIOTalonFX.java b/src/main/java/frc/robot/subsystems/elevator/ElevatorIOTalonFX.java
@@ -82,7 +82,6 @@ public void gotosetpoint(double setpoint, double gearRatio) {
         m_rotations = rotations;
         System.out.println("rotations:" + rotations);
         m_right.setControl(m_request.withPosition(rotations));
-
     }
 
     public double getVelocity(){

diff --git a/src/main/java/frc/robot/subsystems/shooter/Shooter.java b/src/main/java/frc/robot/subsystems/shooter/Shooter.java
@@ -15,7 +15,7 @@ public Command shootL2() {
   }
 
   public Command shootTrough() {
-    return this.run(() -> m_io.setSpeed(-0.4));
+    return this.run(() -> m_io.setSpeed(-0.2));
   }
 
   public Command stop() {