Hopper elevator

.vscode/settings.json

@@ -62,5 +62,5 @@
     null
   ],
   "java.dependency.enableDependencyCheckup": false,
-  "java.jdt.ls.vmargs": "-XX:+UseParallelGC -XX:GCTimeRatio=4 -XX:AdaptiveSizePolicyWeight=90 -Dsun.zip.disableMemoryMapping=true -Xmx2G -Xms100m -Xlog:disable"
+  "java.jdt.ls.vmargs": "-XX:+UseParallelGC -XX:GCTimeRatio=4 -XX:AdaptiveSizePolicyWeight=90 -Dsun.zip.disableMemoryMapping=true -Xmx4G -Xms100m -Xlog:disable"
 }

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;
@@ -125,6 +126,12 @@ public Robot() {
     // Reset alert timers
     disabledTimer.restart();
 
+    // Low battery alert
+    if (DriverStation.isEnabled()) {
+      disabledTimer.reset();
+      lowBatteryAlert.set(false);
+    }
+
     // Instantiate our RobotContainer. This will perform all our button bindings,
     // and put our autonomous chooser on the dashboard.
     robotContainer = new RobotContainer();
@@ -147,11 +154,6 @@ 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
@@ -161,6 +163,8 @@ public void robotPeriodic() {
     } else {
       lowBatteryAlert.set(false);
     }
+
+    LaunchCalculator.getInstance().clearLaunchingParameters();
   }
 
   /** This function is called once when the robot is disabled. */