From 721a2eebf4311f16827ab23ff995f4527441f004 Mon Sep 17 00:00:00 2001
From: Ethan <137455719+EndigoSkull@users.noreply.github.com>
Date: Thu, 26 Mar 2026 19:04:05 -0500
Subject: [PATCH 1/2] adjusted soft limits on the new inclinemotor

---
 src/main/resources/yaml/ztldr.yml | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/src/main/resources/yaml/ztldr.yml b/src/main/resources/yaml/ztldr.yml
index 73c7c365..09cdac1c 100644
--- a/src/main/resources/yaml/ztldr.yml
+++ b/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:
@@ -295,11 +295,11 @@ 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
+            distanceThreeInclineAngleRotations: 0.1196
             distanceThreeLaunchVelocityRPS: 49
             distanceAutoThingLaunchVelocityRPS: 60
             closeDistanceBetweenBeamBreaks: 0.419

From 12271f4f6cba7670e842a9b46f672c71fc39a1c1 Mon Sep 17 00:00:00 2001
From: Ethan <137455719+EndigoSkull@users.noreply.github.com>
Date: Thu, 26 Mar 2026 19:25:46 -0500
Subject: [PATCH 2/2] adjusted setpoints for custom distance shooting and
 removed backspin modifier

---
 src/main/resources/yaml/ztldr.yml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/main/resources/yaml/ztldr.yml b/src/main/resources/yaml/ztldr.yml
index 09cdac1c..47191e85 100644
--- a/src/main/resources/yaml/ztldr.yml
+++ b/src/main/resources/yaml/ztldr.yml
@@ -300,7 +300,7 @@ subsystems:
             distanceTwoInclineAngleRotations: 0.08
             distanceTwoLaunchVelocityRPS: 47
             distanceThreeInclineAngleRotations: 0.1196
-            distanceThreeLaunchVelocityRPS: 49
+            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