spinup shot pos edit

strykeforce · Aug 9, 2024 · aaa2a40 · aaa2a40
1 parent 541aca7
commit aaa2a40
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Showing 2 changed files with 4 additions and 2 deletions.
diff --git a/src/main/java/frc/robot/constants/AutonConstants.java b/src/main/java/frc/robot/constants/AutonConstants.java
@@ -210,6 +210,8 @@ public final class Setpoints {
     public static final Pose2d NAS3 =
         new Pose2d(3.052, 3.063, Rotation2d.fromDegrees(-47.39)); // Disrupt auto
     public static final Pose2d NAS4 = new Pose2d(2.1, 4.11, Rotation2d.fromDegrees(145.561));
+    public static final Pose2d shooterPrepNAS4 =
+        new Pose2d(1.48, 4.65, Rotation2d.fromDegrees(145.561));
 
     // Path Midpoints
     public static final Pose2d MP1 = new Pose2d(2.7, 7.67, Rotation2d.fromDegrees(0.0)); // 5,7.61

diff --git a/src/main/java/frc/robot/subsystems/auto/AutoSwitch.java b/src/main/java/frc/robot/subsystems/auto/AutoSwitch.java
@@ -476,7 +476,7 @@ private AutoCommandInterface getAutoCommand(int switchPos) {
             AutonConstants.kNonAmpSpecialPathMatrix,
             List.of(4, 5),
             2.0,
-            AutonConstants.Setpoints.NAS4);
+            AutonConstants.Setpoints.shooterPrepNAS4);
 
       case 0x2A:
         return new SmartMidFourOrFiveThenSearch(
@@ -494,7 +494,7 @@ private AutoCommandInterface getAutoCommand(int switchPos) {
             AutonConstants.kNonAmpSpecialPathMatrix,
             List.of(5, 4),
             2.0,
-            AutonConstants.Setpoints.NAS4);
+            AutonConstants.Setpoints.shooterPrepNAS4);
 
       case 0x30:
         return new DoNothingCommand(