Launch calc

src/main/java/org/team5924/frc2026/Constants.java

@@ -155,8 +155,8 @@ public final class IntakePivot {
       new TalonFXConfiguration()
         .withCurrentLimits(
           new CurrentLimitsConfigs()
-            .withSupplyCurrentLimit(120)
-            .withStatorCurrentLimit(120)
+            .withSupplyCurrentLimit(60)
+            .withStatorCurrentLimit(60)
             .withSupplyCurrentLimitEnable(true)
             .withStatorCurrentLimitEnable(true))
         .withMotorOutput(
@@ -168,8 +168,8 @@ public final class IntakePivot {
       new SoftwareLimitSwitchConfigs()
         .withReverseSoftLimitThreshold(MIN_POSITION_ROTATIONS)
         .withForwardSoftLimitThreshold(MAX_POSITION_ROTATIONS)
-        .withForwardSoftLimitEnable(true)
-        .withReverseSoftLimitEnable(true);
+        .withForwardSoftLimitEnable(false)
+        .withReverseSoftLimitEnable(false);
 
     public static final FeedbackConfigs FEEDBACK_CONFIGS =
       new FeedbackConfigs()
@@ -220,7 +220,7 @@ public final class GeneralShooterHood {
     public static final double CANCODER_TO_MECHANISM = CANCODER_TO_SPUR * SPUR_TO_MECHANISM;
     public static final double MOTOR_TO_MECHANISM = MOTOR_TO_CANCODER * CANCODER_TO_SPUR * SPUR_TO_MECHANISM;
 
-    public static final double EPSILON_RADS = Units.degreesToRadians(2.0);
+    public static final double EPSILON_RADS = Units.degreesToRadians(0.5);
     public static final double STATE_TIMEOUT = 5.0;
     public static final boolean ENABLE_TIMEOUT = false;
 
@@ -421,14 +421,14 @@ public final class ShooterHoodRight {
   }
 
   public final class FlywheelLeaderRight {
-    public static final int CAN_ID = 32;
+    public static final int CAN_ID = 33;
     public static final int BEAM_BREAK_PORT = 0; // TODO: update later
 
     public static final TalonFXConfiguration CONFIG = GeneralFlywheel.GENERAL_CONFIG;
   }
 
   public final class FlywheelFollowerRight {
-    public static final int CAN_ID = 33;
+    public static final int CAN_ID = 32;
 
     public static final TalonFXConfiguration CONFIG =
       GeneralFlywheel.GENERAL_CONFIG

src/main/java/org/team5924/frc2026/Robot.java

@@ -37,6 +37,7 @@
 import org.littletonrobotics.junction.wpilog.WPILOGWriter;
 import org.team5924.frc2026.generated.TunerConstants;
 import org.team5924.frc2026.util.Elastic;
+import org.team5924.frc2026.util.LaunchCalculator;
 
 public class Robot extends LoggedRobot {
   private static final double LOW_BATTERY_VOLTAGE = 11.0;
@@ -147,11 +148,6 @@ public void robotPeriodic() {
     // Return to non-RT thread priority (do not modify the first argument)
     // Threads.setCurrentThreadPriority(false, 10);
 
-    // Low battery alert
-    if (DriverStation.isEnabled()) {
-      disabledTimer.reset();
-      lowBatteryAlert.set(false);
-    }
     double batteryVoltage = RobotController.getBatteryVoltage();
     if (batteryVoltage > 0.0
         && batteryVoltage <= LOW_BATTERY_VOLTAGE
@@ -203,12 +199,20 @@ public void teleopInit() {
     }
     updateMatchShift.startPeriodic(0.2);
 
+    // Low battery alert
+    if (DriverStation.isEnabled()) {
+      disabledTimer.reset();
+      lowBatteryAlert.set(false);
+    }
+
     Elastic.selectTab("Teleoperated");
   }
 
   /** This function is called periodically during operator control. */
   @Override
-  public void teleopPeriodic() {}
+  public void teleopPeriodic() {
+    LaunchCalculator.getInstance().clearLaunchingParameters();
+  }
 
   /** This function is called once when test mode is enabled. */
   @Override