Merge pull request #58 from WHS-FRC-3467/setpoints

Setpoints
WHS-FRC-3467 · Feb 19, 2025 · 20e92af · 20e92af
2 parents 500a045 + d9cab79
commit 20e92af
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Showing 2 changed files with 12 additions and 12 deletions.
diff --git a/src/main/java/frc/robot/subsystems/Arm/Arm.java b/src/main/java/frc/robot/subsystems/Arm/Arm.java
@@ -31,14 +31,14 @@ public enum State implements TargetState {
         // CORAL_INTAKE(() -> 0.42, ProfileType.MM_POSITION),
         CORAL_INTAKE(() -> 0.405, ProfileType.MM_POSITION),
         LEVEL_1(() -> Units.degreesToRotations(120.0), ProfileType.MM_POSITION),
-        LEVEL_2(() -> Units.degreesToRotations(105.0), ProfileType.MM_POSITION),
-        LEVEL_3(() -> Units.degreesToRotations(105.0), ProfileType.MM_POSITION),
-        LEVEL_4(() -> Units.degreesToRotations(90.0), ProfileType.MM_POSITION),
+        LEVEL_2(() -> Units.degreesToRotations(120.0), ProfileType.MM_POSITION),
+        LEVEL_3(() -> Units.degreesToRotations(120.0), ProfileType.MM_POSITION),
+        LEVEL_4(() -> Units.degreesToRotations(100.0), ProfileType.MM_POSITION),
         CLIMB(() -> Units.degreesToRotations(50.4), ProfileType.MM_POSITION),
-        ALGAE_LOW(() -> Units.degreesToRotations(114.0), ProfileType.MM_POSITION),
-        ALGAE_HIGH(() -> Units.degreesToRotations(114.0), ProfileType.MM_POSITION),
-        ALGAE_GROUND(() -> Units.degreesToRotations(9.0), ProfileType.MM_POSITION),
-        ALGAE_SCORE(() -> Units.degreesToRotations(114.0), ProfileType.MM_POSITION),
+        ALGAE_LOW(() -> Units.degreesToRotations(110.0), ProfileType.MM_POSITION),
+        ALGAE_HIGH(() -> Units.degreesToRotations(110.0), ProfileType.MM_POSITION),
+        ALGAE_GROUND(() -> Units.degreesToRotations(55.0), ProfileType.MM_POSITION),
+        ALGAE_SCORE(() -> Units.degreesToRotations(120.0), ProfileType.MM_POSITION),
         BARGE(() -> Units.degreesToRotations(30.0), ProfileType.MM_POSITION),
         TUNING(() -> Units.degreesToRotations(positionTuning.getAsDouble()),
             ProfileType.MM_POSITION),

diff --git a/src/main/java/frc/robot/subsystems/Elevator/Elevator.java b/src/main/java/frc/robot/subsystems/Elevator/Elevator.java
@@ -36,12 +36,12 @@ public enum State implements TargetState {
         STOW(() -> 0, ProfileType.MM_POSITION),
         CORAL_INTAKE(() -> 0, ProfileType.MM_POSITION),
         LEVEL_1(() -> 0.2, ProfileType.MM_POSITION),
-        LEVEL_2(() -> 1.4, ProfileType.MM_POSITION),
-        LEVEL_3(() -> 2.85, ProfileType.MM_POSITION),
-        LEVEL_4(() -> 5.20, ProfileType.MM_POSITION),
+        LEVEL_2(() -> 1.2, ProfileType.MM_POSITION),
+        LEVEL_3(() -> 2.7, ProfileType.MM_POSITION),
+        LEVEL_4(() -> 5, ProfileType.MM_POSITION),
         CLIMB(() -> 0.05, ProfileType.MM_POSITION),
-        ALGAE_LOW(() -> 0.8, ProfileType.MM_POSITION),
-        ALGAE_HIGH(() -> 1.5, ProfileType.MM_POSITION),
+        ALGAE_LOW(() -> 2, ProfileType.MM_POSITION),
+        ALGAE_HIGH(() -> 3.2, ProfileType.MM_POSITION),
         ALGAE_GROUND(() -> 0.05, ProfileType.MM_POSITION),
         ALGAE_SCORE(() -> 0.05, ProfileType.MM_POSITION),
         BARGE(() -> 4.0, ProfileType.MM_POSITION),