Merge pull request #212 from thedropbears/jettison_improvement

jettison improvement
thedropbears · Jun 22, 2024 · 08be232 · 08be232
2 parents dda43e4 + 8f54204
commit 08be232
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Showing 2 changed files with 3 additions and 3 deletions.
diff --git a/components/shooter.py b/components/shooter.py
@@ -24,7 +24,7 @@ class ShooterComponent:
  FLYWHEEL_TOLERANCE = 1 # rps
 
  FLYWHEEL_SHOOTING_SPEED = 75
- FLYWHEEL_JETTISON_SPEED = 10
+ FLYWHEEL_JETTISON_SPEED = 20
  FLYWHEEL_RAMP_TIME = 1
 
  MAX_INCLINE_ANGLE = 1.045 # ~60 degrees
@@ -39,7 +39,7 @@ class ShooterComponent:
  INCLINATOR_VELOCITY_CONVERSION_FACTOR = (
  INCLINATOR_POSITION_CONVERSION_FACTOR / 60
  ) # rpm -> radians/s
- INCLINATOR_JETTISON_ANGLE = (MAX_INCLINE_ANGLE + MIN_INCLINE_ANGLE) / 2
+ INCLINATOR_JETTISON_ANGLE = 1
 
  # Add extra point outside our range to ramp speed down to zero
  FLYWHEEL_DISTANCE_LOOKUP = (0, 1.3, 2.0, 3.0, 4.0, 5.0, 7.0)

diff --git a/robot.py b/robot.py
@@ -131,7 +131,7 @@ def teleopPeriodic(self) -> None:
  self.chassis.reset_odometry()
 
  # Reverse intake and shoot shooter
- if self.gamepad.getBackButton():
+ if self.gamepad.getStartButton():
  self.note_manager.jettison()
 
  # Intake