Tweaked aim point a little bit to the right by setting to 0.510 (had been missing to the left slightly when at 0.500) Also added a "waitDuration" to ShooterReadyAimFire, and put some initial waitDurations into the "TrenchAuto."

Author: coach-streeter

src/main/java/org/mayheminc/robot2020/autonomousroutines/TrenchAuto.java

@@ -24,7 +24,7 @@ public TrenchAuto() {
         // first, shoot the balls that were pre-loaded
 
         addCommands(new IntakeSetPositionWithoutWaiting(RobotContainer.intake.PIVOT_DOWN));
-        addCommands(new ShooterReadyAimFire());
+        addCommands(new ShooterReadyAimFire(3.0));
 
         // then, perform a 3-point turn
         addCommands(new DriveStraightOnHeading(0.3, DistanceUnits.INCHES, 48, 160));
@@ -41,7 +41,7 @@ public TrenchAuto() {
         addCommands(new DriveStraightOnHeading(0.3, DistanceUnits.INCHES, 120, 0));
         addCommands(new DriveStraightOnHeading(-0.1, DistanceUnits.INCHES, 6, 0));
 
-        addCommands(new ShooterReadyAimFire());
+        addCommands(new ShooterReadyAimFire(6.0));
 
         // turn the wheel off now that the shooting is all done
         addCommands( new ShooterSetWheel(0.0));

src/main/java/org/mayheminc/robot2020/commands/ShooterReadyAimFire.java

@@ -20,7 +20,7 @@ public class ShooterReadyAimFire extends SequentialCommandGroup {
   /**
    * Creates a new ShooterReadyAimFire.
    */
-  public ShooterReadyAimFire() {
+  public ShooterReadyAimFire(double waitDuration) {
     // Add your commands in the super() call, e.g.
     // super(new FooCommand(), new BarCommand());
     super();
@@ -43,7 +43,7 @@ public ShooterReadyAimFire() {
                     new ShooterSetFeeder(1.0),
                     new SequentialCommandGroup(new Wait(0.1), new ChimneySetChimney(0.5)),
                     new SequentialCommandGroup(new Wait(0.2), new MagazineSetTurntable(0.3)),
-                    new Wait(6.0)));
+                    new Wait(waitDuration)));
 
     addCommands(new ParallelRaceGroup(
       new MagazineSetTurntable(0.0),

src/main/java/org/mayheminc/robot2020/subsystems/Targeting.java

@@ -31,7 +31,7 @@ public class Targeting extends SubsystemBase {
   private final static double FOV_HORIZ_CAMERA_IN_DEGREES = 76.5;
 
   // Define the "target location" to be halfway from left to right
-  private final double CENTER_OF_TARGET_X = 0.5;
+  private final double CENTER_OF_TARGET_X = 0.510;
 
   // Calculate ticks per degree.
   // encoder ticks * turret pulley teeth / drive pulley teeth / 360 degrees