Merge pull request #212 from thedropbears/jettison_improvement

jettison improvement
thedropbears · Jun 22, 2024 · 08be232 · 08be232
2 parents dda43e4 + 8f54204
commit 08be232
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Showing 2 changed files with 3 additions and 3 deletions.
diff --git a/components/shooter.py b/components/shooter.py
@@ -24,7 +24,7 @@ class ShooterComponent:
     FLYWHEEL_TOLERANCE = 1  # rps
 
     FLYWHEEL_SHOOTING_SPEED = 75
-    FLYWHEEL_JETTISON_SPEED = 10
+    FLYWHEEL_JETTISON_SPEED = 20
     FLYWHEEL_RAMP_TIME = 1
 
     MAX_INCLINE_ANGLE = 1.045  # ~60 degrees
@@ -39,7 +39,7 @@ class ShooterComponent:
     INCLINATOR_VELOCITY_CONVERSION_FACTOR = (
         INCLINATOR_POSITION_CONVERSION_FACTOR / 60
     )  # rpm -> radians/s
-    INCLINATOR_JETTISON_ANGLE = (MAX_INCLINE_ANGLE + MIN_INCLINE_ANGLE) / 2
+    INCLINATOR_JETTISON_ANGLE = 1
 
     # Add extra point outside our range to ramp speed down to zero
     FLYWHEEL_DISTANCE_LOOKUP = (0, 1.3, 2.0, 3.0, 4.0, 5.0, 7.0)

diff --git a/robot.py b/robot.py
@@ -131,7 +131,7 @@ def teleopPeriodic(self) -> None:
             self.chassis.reset_odometry()
 
         # Reverse intake and shoot shooter
-        if self.gamepad.getBackButton():
+        if self.gamepad.getStartButton():
             self.note_manager.jettison()
 
         # Intake