Updated autonomous programs to pre-start shooter only up to IDLE_SPEED (instead of INITIATION_LINE_SPEED) in order to avoid vibration during targeting.

Author: coach-streeter

src/main/java/org/mayheminc/robot2020/autonomousroutines/StartBWShoot3.java

@@ -27,7 +27,7 @@ public StartBWShoot3() {
                 // is turned towards the target
                 addCommands(new ParallelCommandGroup( // run the following commands in parallel:
                                 new IntakeSetPosition(RobotContainer.intake.PIVOT_DOWN),
-                                new ShooterWheelSet(ShooterWheel.INITIATION_LINE_SPEED),
+                                new ShooterWheelSet(ShooterWheel.IDLE_SPEED),
                                 new HoodSetAbsWhileHeld(Hood.INITIATION_LINE_POSITION),
                                 new TurretSetAbs((180.0 * Turret.TICKS_PER_DEGREE), Turret.WAIT_FOR_DONE)));
 

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

@@ -49,7 +49,7 @@ public StartBWTrench(double extraDistance) {
 
                 // drive diagonally over towards the shooting position, while turning on shooter
                 // wheels, raising the hood, and re-aiming the turret
-                addCommands(new ParallelCommandGroup(new ShooterWheelSet(ShooterWheel.INITIATION_LINE_SPEED),
+                addCommands(new ParallelCommandGroup(new ShooterWheelSet(ShooterWheel.IDLE_SPEED),
                                 new HoodSetAbsWhileHeld(Hood.INITIATION_LINE_POSITION),
                                 new TurretSetAbs((168.0 * Turret.TICKS_PER_DEGREE)),
                                 new DriveStraightOnHeading(-0.5, DistanceUnits.INCHES, 96, 160)));

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

@@ -32,7 +32,7 @@ public StartFWRendezvous() {
                 // is turned towards the target
                 addCommands(new ParallelCommandGroup( // run the following commands in parallel:
                                 new IntakeSetPosition(RobotContainer.intake.PIVOT_DOWN),
-                                new ShooterWheelSet(ShooterWheel.INITIATION_LINE_SPEED),
+                                new ShooterWheelSet(ShooterWheel.IDLE_SPEED),
                                 new HoodSetAbs(Hood.INITIATION_LINE_POSITION),
                                 new TurretSetAbs((10.0 * Turret.TICKS_PER_DEGREE), Turret.WAIT_FOR_DONE)));