made constant for amp tolerance

SaintsRobotics · Apr 4, 2024 · abe456f · abe456f
1 parent 4355d98
commit abe456f
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Showing 2 changed files with 3 additions and 2 deletions.
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -103,7 +103,8 @@ public static final class IntakeConstants {
     // In degrees
     public static final double kIntakeLoweredAngle = -193;
     public static final double kIntakeRaisedAngle = 0;
-    public static final double kIntakeAmpScoringAngle = -71; // 193 - 100 (previous angle)
+    public static final double kIntakeAmpScoringAngle = -71; 
+    public static final int kIntakeAmpTolerance = 2;
 
     /** Encoder offset in rotations */
     public static final double kArmEncoderOffset = 0.715;

diff --git a/src/main/java/frc/robot/subsystems/IntakeSubsystem.java b/src/main/java/frc/robot/subsystems/IntakeSubsystem.java
@@ -81,7 +81,7 @@ public double getArmPosition() {
   }
 
   public boolean ampReady(){
-    return m_armEncoder.getDistance() < IntakeConstants.kIntakeAmpScoringAngle + 2 && m_armEncoder.getDistance() > IntakeConstants.kIntakeAmpScoringAngle - 2;
+    return m_armEncoder.getDistance() < IntakeConstants.kIntakeAmpScoringAngle + IntakeConstants.kIntakeAmpTolerance && m_armEncoder.getDistance() > IntakeConstants.kIntakeAmpScoringAngle - IntakeConstants.kIntakeAmpTolerance;
   }
 
   public boolean armAtSetpoint() {