testing

Author: DriverStationComputer

src/main/java/org/carlmontrobotics/RobotContainer.java

@@ -213,6 +213,9 @@ private void setBindingsManipulator() {
             new SequentialCommandGroup(new AimArmSpeaker(arm, limelight),
                     new PassToOuttake(intakeShooter)));
 
+    // axisTrigger(manipulatorController, Manipulator.SHOOTER_BUTTON).whileTrue(
+    // new PassToOuttake(intakeShooter));
+
     new JoystickButton(manipulatorController, RAMP_OUTTAKE)
         .whileTrue(new RampMaxRPM(intakeShooter));
     new JoystickButton(manipulatorController, OPPOSITE_EJECT)

src/main/java/org/carlmontrobotics/subsystems/Limelight.java

@@ -36,8 +36,12 @@ public Limelight(Drivetrain drivetrain) {
     shooterMap = new InterpolatingDoubleTreeMap(); // add values after testing
     // key is distance (meters), value is angle (rads)
     // ASSUMING SHOOTING AT 4000 RPM
-    shooterMap.put(2.0, .005);
-    shooterMap.put(3.05, 0.275);
+    shooterMap.put(2.06, .01);
+    shooterMap.put(3.05, 0.26);
+    shooterMap.put(2.5, 0.23);
+    shooterMap.put(1.39, -0.18);
+    shooterMap.put(3.45, 0.3);
+    shooterMap.put(3.1, 0.3);
   }
 
   @Override