Fix GC auto, default CBA

StuyPulse · Apr 20, 2024 · c7c6a93 · c7c6a93
1 parent d6a9385
commit c7c6a93
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Showing 2 changed files with 6 additions and 5 deletions.
diff --git a/src/main/java/com/stuypulse/robot/RobotContainer.java b/src/main/java/com/stuypulse/robot/RobotContainer.java
@@ -387,7 +387,7 @@ public void configureAutons() {
         ReroutableCBAED.registerBlue(autonChooser);
         ReroutableCBAED_RED.registerRed(autonChooser);
 
-        CBA.registerBlue(autonChooser);
+        CBA.registerDefaultBlue(autonChooser);
         CBA_RED.registerRed(autonChooser);
 
         CBF.registerBlue(autonChooser)
@@ -396,7 +396,7 @@ public void configureAutons() {
         ReroutableCBAEF.registerBlue(autonChooser)
             .registerRed(autonChooser);
 
-        GC.registerDefaultBlue(autonChooser);
+        GC.registerBlue(autonChooser);
         GC_RED.registerRed(autonChooser);
 
         SmartDashboard.putData("Autonomous", autonChooser);

diff --git a/src/main/java/com/stuypulse/robot/commands/auton/HGF/ThreePieceGC.java b/src/main/java/com/stuypulse/robot/commands/auton/HGF/ThreePieceGC.java
@@ -22,15 +22,16 @@ public ThreePieceGC(PathPlannerPath... paths) {
                     .andThen(new ShooterPodiumShot()),
 
                 SwerveDriveToPose.speakerRelative(-55)
-                    .withTolerance(0.1, 0.1, 2)
+                    .withTolerance(0.05, 0.05, 2)
             ),
 
             new ShooterWaitForTarget()
                 .withTimeout(0.25),
-            ConveyorShootRoutine.untilNoteShot(0.75),
+            ConveyorShootRoutine.untilNoteShot(1.75),
 
             new FollowPathAndIntake(paths[0]),
-            new FollowPathAlignAndShoot(paths[1], SwerveDriveToPose.speakerRelative(-45)),
+            new FollowPathAlignAndShoot(paths[1], SwerveDriveToPose.speakerRelative(-45)
+                .withTolerance(0.05, 0.05, 5)),
 
             new FollowPathAndIntake(paths[2]),
             new SwerveDriveToShoot()