better elevator zero, better cone ground angle

Iron-Panthers · Nov 11, 2023 · 814fd1f · 814fd1f
1 parent b2ace8c
commit 814fd1f
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Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -205,7 +205,7 @@ public static final class Setpoints {
       public static final ElevatorState SHELF_INTAKE_CONE = new ElevatorState(47.3, 68.5);
       public static final ElevatorState SHELF_INTAKE_CUBE = new ElevatorState(43.2, 68.5);
       public static final ElevatorState GROUND_INTAKE_CONE =
-          new ElevatorState(MIN_EXTENSION_INCHES, 75);
+          new ElevatorState(MIN_EXTENSION_INCHES, 72.5);
       public static final ElevatorState GROUND_INTAKE_CUBE =
           new ElevatorState(MIN_EXTENSION_INCHES, 85);
       public static final ElevatorState SCORE_HIGH_CONE = new ElevatorState(43, 52.5);
@@ -238,7 +238,7 @@ public static final class Setpoints {
     public static final double ANGULAR_OFFSET = 0;
 
     public static final double ZERO_MOTOR_POWER = -0.12;
-    public static final double ZERO_STATOR_LIMIT = 5;
+    public static final double ZERO_STATOR_LIMIT = 7;
     public static final double STATOR_LIMIT = 25;
 
     public static final double GRAVITY_OFFSET_PERCENT = .2;

diff --git a/src/main/java/frc/robot/commands/GroundPickupCommand.java b/src/main/java/frc/robot/commands/GroundPickupCommand.java
@@ -23,8 +23,8 @@ public GroundPickupCommand(
     // Add your commands in the addCommands() call, e.g.
 
     addCommands(
-        new GroundIntakeElevatorCommand(elevatorSubsystem, isCube)
-            .alongWith(new IntakeModeCommand(intakeSubsystem, Modes.INTAKE, isCube))
+        new IntakeModeCommand(intakeSubsystem, Modes.INTAKE, isCube)
+            .alongWith(new GroundIntakeElevatorCommand(elevatorSubsystem, isCube))
             .andThen(
                 new ElevatorPositionCommand(elevatorSubsystem, () -> Elevator.Setpoints.STOWED)));
   }