Merge pull request #176 from TheGreenMachine/3-26-adjustments

3-26-adjustments

Author: shishghate

src/main/resources/yaml/ztldr.yml

@@ -258,10 +258,10 @@ subsystems:
                 motorType: NEO550_JST
                 remoteSensor: RemoteCANcoder
                 remoteSensorId: 29
-                id: -1
+                id: 27
                 motorRotation: Clockwise_Positive
-                reverseSoftLimit: 0.0405
-                forwardSoftLimit: 0.109
+                reverseSoftLimit: 0.052
+                forwardSoftLimit: 0.1196
                 statorCurrentLimit: 35
                 pidConfig:
                     slot0:
@@ -295,12 +295,12 @@ subsystems:
             shooterOffsetYMeters: -0.112268
             shooterOffsetZMeters: 0.508
             inclineDuckingLimitRotations: 0.052
-            distanceOneInclineAngleRotations: 0.0405
+            distanceOneInclineAngleRotations: 0.052
             distanceOneLaunchVelocityRPS: 35
-            distanceTwoInclineAngleRotations: 0.0555
+            distanceTwoInclineAngleRotations: 0.08
             distanceTwoLaunchVelocityRPS: 47
-            distanceThreeInclineAngleRotations: 0.07425
-            distanceThreeLaunchVelocityRPS: 49
+            distanceThreeInclineAngleRotations: 0.1196
+            distanceThreeLaunchVelocityRPS: 100
             distanceAutoThingLaunchVelocityRPS: 60
             closeDistanceBetweenBeamBreaks: 0.419
             farDistanceBetweenBeamBreaks: 13.570
@@ -311,7 +311,7 @@ subsystems:
             launchVelocityAdjustmentAmountRPS: 0.04
             inclineAngleAdjustmentAmountDegrees: 0.02
             turretAngleAdjustmentAmountDegrees: 0.04
-            topLaunchMotorBackspinMultiplier: 0.8 # Less than one for backspin.
+            topLaunchMotorBackspinMultiplier: 1 # Less than one for backspin.
     vision:
         cameras:
             forwardLeft: # Pi IP: 10.18.16.11