update aim intake angle and format

team401 · Oct 10, 2024 · 2086531 · 2086531
1 parent 9b830ef
commit 2086531
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Showing 2 changed files with 4 additions and 3 deletions.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -38,9 +38,9 @@
 import frc.robot.subsystems.scoring.ShooterIO;
 import frc.robot.subsystems.scoring.ShooterIOSim;
 import frc.robot.subsystems.scoring.ShooterIOTalonFX;
-import java.util.function.BooleanSupplier;
 import frc.robot.utils.feedforward.TuneG;
 import frc.robot.utils.feedforward.TuneS;
+import java.util.function.BooleanSupplier;
 
 public class RobotContainer {
     PhoenixDrive drive;

diff --git a/src/main/java/frc/robot/subsystems/scoring/ScoringSubsystem.java b/src/main/java/frc/robot/subsystems/scoring/ScoringSubsystem.java
@@ -134,7 +134,8 @@ public boolean atAimerGoalPosition() {
     }
 
     public boolean aimerReadyForNote() {
-        return Math.abs(aimerInputs.aimAngleRad) < 1e-10 && !shooterInputs.noteInShooter;
+        return Math.abs(aimerInputs.aimAngleRad - ScoringConstants.aimMinAngleRadians) < 1e-5
+                && !shooterInputs.noteInShooter;
     }
 
     private void idle() {
@@ -178,7 +179,7 @@ private void idle() {
 
     private void intake() {
         if (!aimerReadyForNote() && !shooterInputs.noteInShooter) {
-            aimerIo.setAimAngleRad(ScoringConstants.intakeAngleToleranceRadians, true);
+            aimerIo.setAimAngleRad(ScoringConstants.aimMinAngleRadians);
         }
         shooterIo.setKickerVolts(ScoringConstants.kickerIntakeVolts);