increase intake speed for pickup

applepi-2067 · Apr 3, 2024 · 2a7925f · 2a7925f
1 parent 8656652
commit 2a7925f
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Showing 4 changed files with 7 additions and 7 deletions.
diff --git a/src/main/deploy/pathplanner/paths/Amp midline note path.path b/src/main/deploy/pathplanner/paths/Amp midline note path.path
@@ -3,12 +3,12 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 3.0,
+        "x": 3.05,
         "y": 6.991369417831561
       },
       "prevControl": null,
       "nextControl": {
-        "x": 4.299902856581748,
+        "x": 4.349902856581748,
         "y": 7.366116187296568
       },
       "isLocked": false,

diff --git a/src/main/deploy/pathplanner/paths/Amp note 2.path b/src/main/deploy/pathplanner/paths/Amp note 2.path
@@ -16,11 +16,11 @@
     },
     {
       "anchor": {
-        "x": 3.0,
+        "x": 3.05,
         "y": 6.991369417831561
       },
       "prevControl": {
-        "x": 2.027365849063134,
+        "x": 2.077365849063134,
         "y": 6.991369417831561
       },
       "nextControl": null,

diff --git a/src/main/deploy/pathplanner/paths/Amp return path.path b/src/main/deploy/pathplanner/paths/Amp return path.path
@@ -16,11 +16,11 @@
     },
     {
       "anchor": {
-        "x": 3.0,
+        "x": 3.05,
         "y": 6.991369417831561
       },
       "prevControl": {
-        "x": 5.424143164976773,
+        "x": 5.4741431649767724,
         "y": 6.90939356201109
       },
       "nextControl": null,

diff --git a/src/main/java/frc/robot/commands/PickupPiece.java b/src/main/java/frc/robot/commands/PickupPiece.java
@@ -11,7 +11,7 @@ public PickupPiece() {
     addCommands(
       new ParallelCommandGroup(
         new SetFeederVelocity(700.0),
-        new SetIntakeVelocity(3_500.0),
+        new SetIntakeVelocity(4_000.0),
         new SetShoulderPosition(Shoulder.MIN_ANGLE_DEGREES, true),
         new SetElevatorPosition(0.0, false, true)
       ),