Changes during drive practice (#132)

* A few tweaks

* spotless

Author: caparomula

src/main/java/frc/lib/Util.java

@@ -14,6 +14,13 @@ public static Color allianceToColor(Alliance alliance) {
     return alliance == Alliance.Blue ? Color.kBlue : Color.kRed;
   }
 
+  /**
+   * Returns true if the numbners are within floating point precision
+   *
+   * @param a first value
+   * @param b second value
+   * @return true iff a and b are effectively equal
+   */
   public static boolean nearlyEqual(double a, double b) {
     return Math.abs(a - b) < Math.ulp(1);
   }

src/main/java/frc/robot/LEDs/LEDs.java

@@ -503,17 +503,13 @@ public void execute() {
   }
 
   public static AddressableLEDBufferView[] intakeBuffers = {
-    // leftStrip,
-    // rightStrip
     Segments.leftTop.bufferView.reversed(),
     Segments.rightTop.bufferView.reversed(),
     Segments.leftBottom.bufferView,
     Segments.rightBottom.bufferView
   };
 
   public static AddressableLEDBufferView[] outtakeBuffers = {
-    // leftStrip.reversed(),
-    // rightStrip.reversed()
     Segments.leftTop.bufferView,
     Segments.rightTop.bufferView,
     Segments.leftBottom.bufferView.reversed(),

src/main/java/frc/robot/Robot.java

@@ -280,7 +280,7 @@ private void configureDriverButtonBindings() {
     var outtaking = driver.HIn();
     lifter.atProcessorHeight.and(outtaking)
         .whileTrue(algaeRoller.createOuttakeToProcessorCommand());
-    lifter.atBargeHeight.and(outtaking)
+    lifter.atProcessorHeight.negate().and(outtaking)
         .whileTrue(algaeRoller.createOuttakeToBargeCommand());
     outtaking
         .whileTrue(coralRoller.createOuttakeCommand());
@@ -460,7 +460,7 @@ protected Command createRollerAnimationCommand() {
      */
     BooleanSupplier intakeSupplier =
         () -> {
-          return coralRoller.getRollerVelocity() > 0 || algaeRoller.getRollerVelocity() > 0;
+          return coralRoller.getRollerVelocity() > 1 || algaeRoller.getRollerVelocity() > 1;
         };
 
     /*

src/main/java/frc/robot/elevator/ElevatorConstants.java

@@ -155,7 +155,8 @@ public static enum CoralWristState {
       L1(125),
       L2(65),
       L3(65),
-      L4(35),
+      // TODO: reevaluate
+      L4(30),
       Intake(125),
       AlgaeMode(90);
 
@@ -242,7 +243,8 @@ public static enum AlgaeWristState {
       Processor(0),
       L2(-5),
       L3(-5),
-      Barge(60),
+      // TODO: reevaluate
+      Barge(55),
       CoralMode(80);
 
       public Angle angle;