From 43dab5cf7a204223989fc368a3406ba544822774 Mon Sep 17 00:00:00 2001
From: Shishir Ghate <shishghate@gmail.com>
Date: Sat, 28 Mar 2026 14:22:32 -0500
Subject: [PATCH 1/3] Set the field ranges again

---
 .../com/team1816/season/subsystems/Shooter.java    | 12 ++++++------
 src/main/resources/yaml/ztldr.yml                  | 14 +++++++-------
 2 files changed, 13 insertions(+), 13 deletions(-)

diff --git a/src/main/java/com/team1816/season/subsystems/Shooter.java b/src/main/java/com/team1816/season/subsystems/Shooter.java
index 3b47e4fb..e3e3c35e 100644
--- a/src/main/java/com/team1816/season/subsystems/Shooter.java
+++ b/src/main/java/com/team1816/season/subsystems/Shooter.java
@@ -636,11 +636,11 @@ private boolean areLaunchMotorsAimed() {
     private void setInclineAngle(double wantedAngleDegrees) {
         wantedInclineAngleDegrees = wantedAngleDegrees + inclineAngleAdjustmentDegrees;
         double rotations = Units.degreesToRotations(wantedInclineAngleDegrees);
-//        if (isInclineDucking) {
-//            // If we are trying to duck under the trench, restrict the angle of the incline to be
-//            // below the limit.
-//            rotations = Math.min(rotations, INCLINE_DUCKING_LIMIT_ROTATIONS);
-//        }
+        if (isInclineDucking) {
+            // If we are trying to duck under the trench, restrict the angle of the incline to be
+            // below the limit.
+            rotations = Math.min(rotations, INCLINE_DUCKING_LIMIT_ROTATIONS);
+        }
         inclineMotor.setControl(inclineMotorPositionRequest.withPosition(rotations));
     }
 
@@ -760,7 +760,7 @@ public boolean isAimed() {
             && isTurretAimed()
             // If we are auto trying to auto aim but don't actually know where we are, we are
             // probably not aimed correctly.
-            && !(isAutoAiming && false /*!BaseRobotState.hasAccuratePoseEstimate*/);
+            && !(isAutoAiming && !BaseRobotState.hasAccuratePoseEstimate);
     }
 
     public enum ShooterDistanceState {
diff --git a/src/main/resources/yaml/ztldr.yml b/src/main/resources/yaml/ztldr.yml
index d9876c5f..a17fe991 100644
--- a/src/main/resources/yaml/ztldr.yml
+++ b/src/main/resources/yaml/ztldr.yml
@@ -9,16 +9,16 @@ shooterSettings:
     inclineAnglesRotations:
         - 0.0405 # 48
         - 0.0555 # 96
-        - 0.07425 # 156
-        - 0.08925 # 204
-        - 0.108 # 264
+        - 0.08 # 156
+        - 0.09 # 204
+        - 0.1196 # 264
         - 0.108 # 360
     launchVelocitiesRPS:
         - 35 # 48
         - 47 # 96
-        - 49 # 156
-        - 52 # 204
-        - 58 # 264
+        - 46 # 156
+        - 48 # 204
+        - 54 # 264
         - 100 # 360
 subsystems:
     drivetrain:
@@ -315,7 +315,7 @@ subsystems:
             launchVelocityAdjustmentAmountRPS: 0.01
             inclineAngleAdjustmentAmountDegrees: 0.02
             turretAngleAdjustmentAmountDegrees: 0.04
-            topLaunchMotorBackspinMultiplier: .9 # Less than one for backspin.
+            topLaunchMotorBackspinMultiplier: .95 # Less than one for backspin.
     vision:
         cameras:
             forwardLeft: # Pi IP: 10.18.16.11

From 693725d394b9b039a4fbdfc519b36967a47be128 Mon Sep 17 00:00:00 2001
From: Shishir Ghate <shishghate@gmail.com>
Date: Sun, 29 Mar 2026 14:10:49 -0500
Subject: [PATCH 2/3] Set a new lower soft limit

---
 src/main/resources/yaml/ztldr.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/resources/yaml/ztldr.yml b/src/main/resources/yaml/ztldr.yml
index a17fe991..0a5ae401 100644
--- a/src/main/resources/yaml/ztldr.yml
+++ b/src/main/resources/yaml/ztldr.yml
@@ -260,7 +260,7 @@ subsystems:
                 remoteSensorId: 29
                 id: 27
                 motorRotation: Clockwise_Positive
-                reverseSoftLimit: 0.052
+                reverseSoftLimit: 0.062
                 forwardSoftLimit: 0.1196
                 statorCurrentLimit: 35
                 pidConfig:

From 509988097fbfa8e147f2bfe97cbcd673b2544150 Mon Sep 17 00:00:00 2001
From: Shishir Ghate <shishghate@gmail.com>
Date: Sun, 29 Mar 2026 14:13:03 -0500
Subject: [PATCH 3/3] Turn off checks for now

---
 .../java/com/team1816/season/subsystems/Shooter.java | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/src/main/java/com/team1816/season/subsystems/Shooter.java b/src/main/java/com/team1816/season/subsystems/Shooter.java
index e3e3c35e..3b47e4fb 100644
--- a/src/main/java/com/team1816/season/subsystems/Shooter.java
+++ b/src/main/java/com/team1816/season/subsystems/Shooter.java
@@ -636,11 +636,11 @@ private boolean areLaunchMotorsAimed() {
     private void setInclineAngle(double wantedAngleDegrees) {
         wantedInclineAngleDegrees = wantedAngleDegrees + inclineAngleAdjustmentDegrees;
         double rotations = Units.degreesToRotations(wantedInclineAngleDegrees);
-        if (isInclineDucking) {
-            // If we are trying to duck under the trench, restrict the angle of the incline to be
-            // below the limit.
-            rotations = Math.min(rotations, INCLINE_DUCKING_LIMIT_ROTATIONS);
-        }
+//        if (isInclineDucking) {
+//            // If we are trying to duck under the trench, restrict the angle of the incline to be
+//            // below the limit.
+//            rotations = Math.min(rotations, INCLINE_DUCKING_LIMIT_ROTATIONS);
+//        }
         inclineMotor.setControl(inclineMotorPositionRequest.withPosition(rotations));
     }
 
@@ -760,7 +760,7 @@ public boolean isAimed() {
             && isTurretAimed()
             // If we are auto trying to auto aim but don't actually know where we are, we are
             // probably not aimed correctly.
-            && !(isAutoAiming && !BaseRobotState.hasAccuratePoseEstimate);
+            && !(isAutoAiming && false /*!BaseRobotState.hasAccuratePoseEstimate*/);
     }
 
     public enum ShooterDistanceState {