night before

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/auton/Auton.java

@@ -109,32 +109,32 @@ public class Auton {
                     .build();
 
             grabSet2Path = follower.pathBuilder()
-                    .addPath(new BezierLine(new Pose(41.758, 61.439), new Pose(23.620, 59.830)))
+                    .addPath(new BezierLine(new Pose(41.758, 61.439), new Pose(16, 59.830)))
                     .setLinearHeadingInterpolation(Math.toRadians(180), Math.toRadians(180))
                     .build();
 
             scoreSet2Path = follower.pathBuilder()
-                    .addPath(new BezierCurve(new Pose(23.620, 59.830), new Pose(55.542, 82.280), new Pose(54, 90)))
+                    .addPath(new BezierCurve(new Pose(16, 59.830), new Pose(55.542, 82.280), new Pose(54, 90)))
                     .setLinearHeadingInterpolation(Math.toRadians(180), Math.toRadians(144))
                     .build();
 
             grabGate1Path = follower.pathBuilder()
-                    .addPath(new BezierCurve(new Pose(54, 90), new Pose(40.119, 55.595), new Pose(11.400, 59.600)))
+                    .addPath(new BezierCurve(new Pose(54, 90), new Pose(40.119, 55.595), new Pose(12, 58.3)))
                     .setLinearHeadingInterpolation(Math.toRadians(144), Math.toRadians(138))
                     .build();
 
             scoreGate1Path = follower.pathBuilder()
-                    .addPath(new BezierCurve(new Pose(11.400, 59.600), new Pose(41.918, 62.187), new Pose(54, 90)))
+                    .addPath(new BezierCurve(new Pose(12, 58.3), new Pose(41.918, 62.187), new Pose(54, 90)))
                     .setLinearHeadingInterpolation(Math.toRadians(138), Math.toRadians(144))
                     .build();
 
             grabGate2Path = follower.pathBuilder()
-                    .addPath(new BezierCurve(new Pose(54, 90), new Pose(42.081, 61.914), new Pose(11.400, 59.600)))
+                    .addPath(new BezierCurve(new Pose(54, 90), new Pose(42.081, 61.914), new Pose(12, 58.3)))
                     .setLinearHeadingInterpolation(Math.toRadians(144), Math.toRadians(138))
                     .build();
 
             scoreGate2Path = follower.pathBuilder()
-                    .addPath(new BezierCurve(new Pose(11.400, 59.600), new Pose(43.404, 100.236), new Pose(54, 90)))
+                    .addPath(new BezierCurve(new Pose(12, 58.3), new Pose(44, 62), new Pose(54, 90)))
                     .setLinearHeadingInterpolation(Math.toRadians(138), Math.toRadians(144))
                     .build();
 
@@ -144,12 +144,12 @@ public class Auton {
                     .build();
 
             grabSet3Path = follower.pathBuilder()
-                    .addPath(new BezierCurve(new Pose(38.515, 47.156), new Pose(29.622, 37.842), new Pose(16.419, 35.945)))
+                    .addPath(new BezierCurve(new Pose(38.515, 47.156), new Pose(29.622, 37.842), new Pose(12, 36)))
                     .setLinearHeadingInterpolation(Math.toRadians(220), Math.toRadians(185))
                     .build();
 
             scoreSet3Path = follower.pathBuilder()
-                    .addPath(new BezierCurve(new Pose(16.419, 35.945), new Pose(9.594, 52.541), new Pose(54, 90)))
+                    .addPath(new BezierCurve(new Pose(12, 36), new Pose(9.594, 52.541), new Pose(54, 90)))
                     .setLinearHeadingInterpolation(Math.toRadians(185), Math.toRadians(144))
                     .build();
 
@@ -264,32 +264,32 @@ public class Auton {
                     .build();
 
             grabSet2Path = follower.pathBuilder()
-                    .addPath(new BezierLine(new Pose(102.242, 61.439), new Pose(120.380, 59.830)))
+                    .addPath(new BezierLine(new Pose(102.242, 61.439), new Pose(128, 59.830)))
                     .setLinearHeadingInterpolation(Math.toRadians(0), Math.toRadians(0))
                     .build();
 
             scoreSet2Path = follower.pathBuilder()
-                    .addPath(new BezierCurve(new Pose(120.380, 59.830), new Pose(88.458, 82.280), new Pose(90, 90)))
+                    .addPath(new BezierCurve(new Pose(128, 59.830), new Pose(88.458, 82.280), new Pose(90, 90)))
                     .setLinearHeadingInterpolation(Math.toRadians(0), Math.toRadians(36))
                     .build();
 
             grabGate1Path = follower.pathBuilder()
-                    .addPath(new BezierCurve(new Pose(90, 90), new Pose(103.881, 55.595), new Pose(132.600, 59.600)))
+                    .addPath(new BezierCurve(new Pose(90, 90), new Pose(103.881, 55.595), new Pose(132, 58.3)))
                     .setLinearHeadingInterpolation(Math.toRadians(36), Math.toRadians(42))
                     .build();
 
             scoreGate1Path = follower.pathBuilder()
-                    .addPath(new BezierCurve(new Pose(132.600, 59.600), new Pose(102.082, 62.187), new Pose(90, 90)))
+                    .addPath(new BezierCurve(new Pose(132, 58.3), new Pose(102.082, 62.187), new Pose(90, 90)))
                     .setLinearHeadingInterpolation(Math.toRadians(42), Math.toRadians(36))
                     .build();
 
             grabGate2Path = follower.pathBuilder()
-                    .addPath(new BezierCurve(new Pose(90, 90), new Pose(101.919, 61.914), new Pose(132.600, 59.600)))
+                    .addPath(new BezierCurve(new Pose(90, 90), new Pose(101.919, 61.914), new Pose(132, 58.3)))
                     .setLinearHeadingInterpolation(Math.toRadians(36), Math.toRadians(42))
                     .build();
 
             scoreGate2Path = follower.pathBuilder()
-                    .addPath(new BezierCurve(new Pose(132.600, 59.600), new Pose(100.596, 100.236), new Pose(90, 90)))
+                    .addPath(new BezierCurve(new Pose(132, 58.3), new Pose(100, 62), new Pose(90, 90)))
                     .setLinearHeadingInterpolation(Math.toRadians(42), Math.toRadians(36))
                     .build();
 
@@ -299,12 +299,12 @@ public class Auton {
                     .build();
 
             grabSet3Path = follower.pathBuilder()
-                    .addPath(new BezierCurve(new Pose(105.485, 47.156), new Pose(114.378, 37.842), new Pose(127.581, 35.945)))
+                    .addPath(new BezierCurve(new Pose(105.485, 47.156), new Pose(114.378, 37.842), new Pose(132, 36)))
                     .setLinearHeadingInterpolation(Math.toRadians(-40), Math.toRadians(-5))
                     .build();
 
             scoreSet3Path = follower.pathBuilder()
-                    .addPath(new BezierCurve(new Pose(127.581, 35.945), new Pose(134.406, 52.541), new Pose(90, 90)))
+                    .addPath(new BezierCurve(new Pose(132, 36), new Pose(134.406, 52.541), new Pose(90, 90)))
                     .setLinearHeadingInterpolation(Math.toRadians(-5), Math.toRadians(36))
                     .build();
 
@@ -345,8 +345,8 @@ public class Auton {
         protected final boolean isNet;
         protected final boolean useTimer;
 
-        public static double timerTimeout = 4.5;
+        public static double timerTimeout = 2.8;
-        public static double gateWaitTime = 4.0;
+        public static double gateWaitTime = 3.0;
 
         protected Pose startPose;
 

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystems/Turret.java

@@ -149,7 +149,7 @@ public class Turret {
 
 
     public void idleLaunch() {
-        targetVelocity = 1300;
+        targetVelocity = 1600;
         hardware.setTurretVelocity(targetVelocity);
 
         double calculatedHoodPos = getHoodPOS(65);
@@ -394,7 +394,7 @@ public class Turret {
             double error = Math.abs(absCurrent - absTarget);
             double tolerance = absTarget * 0.05;
 
-            return error <= tolerance;
+            return error <= tolerance || absCurrent > absTarget;
         }
         return false;
     }
@@ -493,7 +493,7 @@ public class Turret {
                 + (0.00636447 * x3)
                 + (-0.593959 * x2)
                 + (26.08276 * x)
-                + 1218.12895;
+                + 1340.12895;
 
         return Range.clip(velocity, 1300.0, 2450.0);
     }