Scoring tuning

Author: owen-beck

src/main/java/frc/robot/constants/ElevatorConstants.java

@@ -28,14 +28,11 @@ public final class ElevatorConstants {
     // Scoring positions
     public static final double L1_POSITION = 0;
     public static final double STAGE_L2_POSITION = 12.52;
-    public static final double SCORE_L2_POSITION = 5.52;
-    public static final double RETRACT_L2_POSITION = 2.52;
-    public static final double STAGE_L3_POSITION = 30.68;
-    public static final double SCORE_L3_POSITION = 23.68;
-    public static final double RETRACT_L3_POSITION = 20.68;
+    public static final double SCORE_L2_POSITION = 0.02;
+    public static final double STAGE_L3_POSITION = 30.18;
+    public static final double SCORE_L3_POSITION = 17.68;
     public static final double STAGE_L4_POSITION = 54.5;
-    public static final double SCORE_L4_POSITION = 51.5;
-    public static final double RETRACT_L4_POSITION = 42;
+    public static final double SCORE_L4_POSITION = 43.5;
     public static final double PROCESSOR_POSITION = 0;
     public static final double NET_POSITION = 54;
 

src/main/java/frc/robot/constants/IntakeConstants.java

@@ -14,8 +14,8 @@ public class IntakeConstants {
     public static final double CORAL_INTAKE_VELOCITY = 120;
     public static final double ALGAE_INTAKE_VELOCITY = 120;
     public static final double ALGAE_REMOVE_VELOCITY = -80;
-    public static final double L1_EJECT_VELOCITY = -10;
-    public static final double BRANCH_EJECT_VELOCITY = -10;
+    public static final double L1_EJECT_VELOCITY = -20;
+    public static final double BRANCH_EJECT_VELOCITY = -15;
     public static final double PROCESSOR_EJECT_VELOCITY = -120;
     public static final double NET_EJECT_VELOCITY = -120;
 

src/main/java/frc/robot/constants/SuperstructureConstants.java

@@ -85,13 +85,13 @@ public class SuperstructureConstants {
         IntakeConstants.CORAL_REST_VELOCITY);
 
     public static final SuperstructureState PLACE_L2_STATE = new SuperstructureState(
-        ElevatorConstants.RETRACT_L2_POSITION, 
+        ElevatorConstants.SCORE_L2_POSITION, 
         ArmConstants.L2_SCORING_POSITION, 
         WristConstants.PARALLEL_CURRENT, 
         IntakeConstants.CORAL_REST_VELOCITY);
 
     public static final SuperstructureState RETRACT_L2_STATE = new SuperstructureState(
-        ElevatorConstants.RETRACT_L2_POSITION, 
+        ElevatorConstants.SCORE_L2_POSITION, 
         ArmConstants.STOWED_POSITION, 
         WristConstants.PARALLEL_CURRENT, 
         IntakeConstants.BRANCH_EJECT_VELOCITY);
@@ -117,13 +117,13 @@ public class SuperstructureConstants {
         IntakeConstants.CORAL_REST_VELOCITY);
 
     public static final SuperstructureState PLACE_L3_STATE = new SuperstructureState(
-        ElevatorConstants.RETRACT_L3_POSITION, 
+        ElevatorConstants.SCORE_L3_POSITION, 
         ArmConstants.L3_SCORING_POSITION, 
         WristConstants.PARALLEL_CURRENT, 
         IntakeConstants.CORAL_REST_VELOCITY);
 
     public static final SuperstructureState RETRACT_L3_STATE = new SuperstructureState(
-        ElevatorConstants.RETRACT_L3_POSITION, 
+        ElevatorConstants.SCORE_L3_POSITION, 
         ArmConstants.STOWED_POSITION, 
         WristConstants.PARALLEL_CURRENT, 
         IntakeConstants.BRANCH_EJECT_VELOCITY);
@@ -149,13 +149,13 @@ public class SuperstructureConstants {
         IntakeConstants.CORAL_REST_VELOCITY);
 
     public static final SuperstructureState PLACE_L4_STATE = new SuperstructureState(
-        ElevatorConstants.RETRACT_L4_POSITION, 
+        ElevatorConstants.SCORE_L4_POSITION, 
         ArmConstants.L4_SCORING_POSITION, 
         WristConstants.PARALLEL_CURRENT, 
         IntakeConstants.CORAL_REST_VELOCITY);
 
     public static final SuperstructureState RETRACT_L4_STATE = new SuperstructureState(
-        ElevatorConstants.RETRACT_L4_POSITION, 
+        ElevatorConstants.SCORE_L4_POSITION, 
         ArmConstants.STOWED_POSITION, 
         WristConstants.PARALLEL_CURRENT, 
         IntakeConstants.BRANCH_EJECT_VELOCITY);