experimenting with placement

Author: sjcbulldog

src/main/java/frc/robot/Constants.java

@@ -82,7 +82,7 @@ public static class ReefConstants {
         /**
          * The distance from the center of the ROBOT to the TAG while placing CORAL.
          */
-        public static final Distance distanceFromTagCoral = Inches.of(14);
+        public static final Distance distanceFromTagCoral = Inches.of(20);
 
         /**
          * The distance from the center of the ROBOT to the TAG while collecting ALGAE.

src/main/java/frc/robot/RobotContainer.java

@@ -471,7 +471,7 @@ private void subsystemCreateException(Exception ex) {
     }
 
     private void configureTestModeBindings() {
-        Distance h = Centimeters.of(135) ;
+        Distance h = Centimeters.of(140) ;
         testModeTrigger.and(gamepad_.start()).onTrue(
             new ConditionalCommand(
                 new GoToCmd(manipulator_, h, ManipulatorConstants.Arm.Positions.kRaiseAngle),

src/main/java/frc/robot/commands/robot/CommandConstants.java

@@ -8,8 +8,8 @@
 
 public class CommandConstants {
     public static class ReefDrive {
-        public static final LinearVelocity kMaxDriveVelocity = MetersPerSecond.of(2.0) ;
-        public static final LinearAcceleration kMaxDriveAcceleration = MetersPerSecondPerSecond.of(2.0) ;
+        public static final LinearVelocity kMaxDriveVelocity = MetersPerSecond.of(2.3) ;
+        public static final LinearAcceleration kMaxDriveAcceleration = MetersPerSecondPerSecond.of(2.3) ;
     }
 
     public static class AlgaeScore {

src/main/java/frc/robot/commands/robot/placecoral/PlaceCoralCmd.java

@@ -147,8 +147,8 @@ public void initSequence(SequentialCommandGroup seq) {
                 break ;
 
             case L4:
-                target_elev_pos_ = Elevator.Positions.kPlaceL4;
-                immdangle = Arm.Positions.kPlaceL4;
+                target_elev_pos_ = kUseFastL4Place ? Elevator.Positions.kPlaceL4Fast : Elevator.Positions.kPlaceL4;
+                immdangle = kUseFastL4Place ? Arm.Positions.kPlaceFastL4 : Arm.Positions.kStow;
                 break ;
 
             default:

src/main/java/frc/robot/subsystems/funnel/FunnelSubsystem.java

@@ -2,6 +2,8 @@
 
 import org.littletonrobotics.junction.Logger;
 
+import static edu.wpi.first.units.Units.Rotations;
+
 import edu.wpi.first.units.measure.Angle;
 import edu.wpi.first.wpilibj.Alert;
 import edu.wpi.first.wpilibj.Timer;

src/main/java/frc/robot/subsystems/manipulator/ManipulatorConstants.java

@@ -106,6 +106,7 @@ public class Positions {
             public static final Angle kPlaceL2 = Degrees.of(20); 
             public static final Angle kPlaceL3 = Degrees.of(20); 
             public static final Angle kPlaceL4 = Degrees.of(75);
+            public static final Angle kPlaceFastL4 = Degrees.of(63.0) ;
             public static final Angle kPlaceL2L3OneCoralAdder = Degrees.of(0) ;
             public static final Angle kPlaceL2L3TwoCoralAdder = Degrees.of(0) ;
             public static final Angle kFinishedAlgaeThreshhold = Degrees.of(150.0) ;
@@ -203,6 +204,7 @@ public class Positions {
             public static final Distance kPlaceL2 = Centimeters.of(24); 
             public static final Distance kPlaceL3 = Centimeters.of(62); 
             public static final Distance kPlaceL4 = Centimeters.of(134);
+            public static final Distance kPlaceL4Fast = Centimeters.of(141);            
             public static final Distance kPlaceL2OneCoralAdder = Centimeters.of(8) ;
             public static final Distance kPlaceL3OneCoralAdder = Centimeters.of(7) ;