hopefully fix intake handoff issues

team4099 · Apr 6, 2024 · c6f8ef2 · c6f8ef2
1 parent a905010
commit c6f8ef2
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Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/src/main/kotlin/com/team4099/robot2023/config/constants/WristConstants.kt b/src/main/kotlin/com/team4099/robot2023/config/constants/WristConstants.kt
@@ -110,7 +110,7 @@ object WristConstants {
   val CLIMB_ANGLE = 0.0.degrees
 
   val TRAP_ANGLE = 35.degrees
-  val INTAKE_ANGLE = (-33.5).degrees
+  val INTAKE_ANGLE = (-33.75).degrees
   val IDLE_ANGLE_HAS_GAMEPEICE = -34.degrees
   val PASSING_SHOT_ANGLE = -20.degrees
 }
diff --git a/src/main/kotlin/com/team4099/robot2023/subsystems/superstructure/Superstructure.kt b/src/main/kotlin/com/team4099/robot2023/subsystems/superstructure/Superstructure.kt
@@ -364,7 +364,7 @@ class Superstructure(
       }
       SuperstructureStates.GROUND_INTAKE_PREP -> {
         wrist.currentRequest =
-          Request.WristRequest.TargetingPosition(Wrist.TunableWristStates.intakeAngle.get(), 2.0.degrees)
+          Request.WristRequest.TargetingPosition(Wrist.TunableWristStates.intakeAngle.get(), 1.0.degrees)
         if (wrist.isAtTargetedPosition) {
           nextState = SuperstructureStates.GROUND_INTAKE
         }