[#475] - some more formatting and constant changes

frc-862 · Apr 2, 2024 · f9dc5f3 · f9dc5f3
1 parent 06fbd8e
commit f9dc5f3
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Showing 2 changed files with 8 additions and 7 deletions.
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -356,7 +356,7 @@ public class VisionConstants {
                 Units.feetToMeters(26.0));
         public static final Translation2d VISION_LIMIT = new Translation2d(Units.feetToMeters(9),
                 Units.feetToMeters(5));
-        public static final double ALIGNMENT_TOLERANCE = 8d; // TODO: make this an actual value
+        public static final double ALIGNMENT_TOLERANCE = 3d; // TODO: make this an actual value
         public static final double POINTATTAG_ALIGNMENT_TOLERANCE = 1d;
         public static final PIDController POINT_AIM_CONTROLLER = new PIDController(0.2, 0, 0.015, 0.01);
         public static final PIDController TAG_AIM_CONTROLLER = new PIDController(0.1, 0, 0.01);

diff --git a/src/main/java/frc/robot/command/ChasePieces.java b/src/main/java/frc/robot/command/ChasePieces.java
@@ -41,6 +41,7 @@ public class ChasePieces extends Command {
     private double collectPower;
     private double maxCollectPower;
     private double drivePower;
+    private double slowDrive = 0.5d;
     private double rotPower;
 
     private Pose2d startingPose;
@@ -209,15 +210,15 @@ private void autoChase(){
                 if (!hasSeenTarget) {
                     if (startingPose.getY() > VisionConstants.HALF_FIELD_HEIGHT) {
                         if (DriverStation.getAlliance().get() == Alliance.Blue) {
-                            drivetrain.setRobot(0.5, 0, -rotPower);
+                            drivetrain.setRobot(slowDrive, 0, -rotPower);
                         } else {
-                            drivetrain.setRobot(0.5, 0, rotPower);
+                            drivetrain.setRobot(slowDrive, 0, rotPower);
                         }
                     } else {
                         if (DriverStation.getAlliance().get() == Alliance.Blue) {
-                            drivetrain.setRobot(0.5, 0, rotPower);
+                            drivetrain.setRobot(slowDrive, 0, rotPower);
                         } else {
-                            drivetrain.setRobot(0.5, 0, -rotPower);
+                            drivetrain.setRobot(slowDrive, 0, -rotPower);
                         }
                     }
                 } else {
@@ -284,11 +285,11 @@ public boolean trustValues() {
     public boolean isFinished() {
         if (DriverStation.isAutonomous()) {
             if (DriverStation.getAlliance().get() == Alliance.Blue) {
-                if (drivetrain.getPose().getX() > AutonomousConstants.CHASE_BOUNDARY) {
+                if (drivetrain.getPose().getX() > AutonomousConstants.BLUE_CHASE_BOUNDARY) {
                     return true;
                 }
             } else {
-                if (drivetrain.getPose().getX() < AutonomousConstants.CHASE_BOUNDARY) {
+                if (drivetrain.getPose().getX() < AutonomousConstants.RED_CHASE_BOUNDARY) {
                     return true;
                 }
             }