Remove outdated comments, fix kicker voltage in amp tuning mode

team401 · Oct 23, 2024 · cc6a6ee · cc6a6ee
1 parent 0498db3
commit cc6a6ee
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Showing 2 changed files with 3 additions and 7 deletions.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -698,12 +698,12 @@ public void testInit() {
                                 new InstantCommand(
                                         () ->
                                                 scoringSubsystem.setOverrideKickerVoltsDirectly(
-                                                        -12.0)))
+                                                        12.0)))
                         .onFalse(
                                 new InstantCommand(
                                         () ->
                                                 scoringSubsystem.setOverrideKickerVoltsDirectly(
-                                                        -12.0)));
+                                                        0.0)));
                 break;
         }
     }

diff --git a/src/main/java/frc/robot/subsystems/scoring/ScoringSubsystem.java b/src/main/java/frc/robot/subsystems/scoring/ScoringSubsystem.java
@@ -300,11 +300,7 @@ private void prime() {
     private void ampPrime() {
         // shooterIo.setShooterVelocityRPM(ScoringConstants.shooterAmpVelocityRPM);
         // TODO: Test this out
-        aimerIo.setAimAngleRot(
-                ScoringConstants
-                        .ampAimerAngleRotations); // This is actually in rotations and not radians,
-        // I really need to rename all
-        // of the aimer IO functions
+        aimerIo.setAimAngleRot(ScoringConstants.ampAimerAngleRotations);
         if (action != ScoringAction.SHOOT && action != ScoringAction.AMP_AIM) {
             state = ScoringState.IDLE;
         } else if (action == ScoringAction.SHOOT) {