Adjustments

Mechanical-Advantage · Apr 13, 2024 · 7e1f3ec · 7e1f3ec
1 parent eba772b
commit 7e1f3ec
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Showing 2 changed files with 11 additions and 8 deletions.
diff --git a/src/main/java/org/littletonrobotics/frc2024/commands/auto/AutoBuilder.java b/src/main/java/org/littletonrobotics/frc2024/commands/auto/AutoBuilder.java
@@ -737,13 +737,13 @@ public Command davisInspirationalAuto() {
                                         Map.of(
                                             AutoQuestionResponse.SOURCE,
                                             Commands.waitSeconds(
-                                                14.6 - leaveFromSource.getDuration()),
+                                                13.5 - leaveFromSource.getDuration()),
                                             AutoQuestionResponse.CENTER,
                                             Commands.waitSeconds(
-                                                14.6 - leaveFromCenter.getDuration()),
+                                                13.5 - leaveFromCenter.getDuration()),
                                             AutoQuestionResponse.AMP,
                                             Commands.waitSeconds(
-                                                14.6 - leaveFromAmp.getDuration())),
+                                                13.5 - leaveFromAmp.getDuration())),
                                         () -> responses.get().get(0))),
                                 () -> responses.get().get(2))
                             .andThen(

diff --git a/...ain/java/org/littletonrobotics/frc2024/subsystems/drive/trajectory/DriveTrajectories.java b/...ain/java/org/littletonrobotics/frc2024/subsystems/drive/trajectory/DriveTrajectories.java
@@ -734,24 +734,27 @@ public class DriveTrajectories {
             PathSegment.newBuilder()
                 .addPoseWaypoint(startingSourceSubwoofer)
                 .addTranslationWaypoint(
-                    startingSourceSubwoofer.getTranslation().plus(new Translation2d(0.75, -3)))
-                .addTranslationWaypoint(
-                    startingSourceSubwoofer.getTranslation().plus(new Translation2d(2.0, -3.75)))
+                    FieldConstants.Stage.podiumLeg
+                        .getTranslation()
+                        .plus(new Translation2d(0.0, -2.0)))
                 .build()));
     paths.put(
         "inspirational_leaveFromCenter",
         List.of(
             PathSegment.newBuilder()
                 .addPoseWaypoint(startingCenter)
                 .addTranslationWaypoint(
-                    startingCenter.getTranslation().plus(new Translation2d(1.0, 0.0)))
+                    FieldConstants.StagingLocations.spikeTranslations[1].plus(
+                        new Translation2d(1.0, 0.0)))
                 .build()));
     paths.put(
         "inspirational_leaveFromAmp",
         List.of(
             PathSegment.newBuilder()
                 .addPoseWaypoint(startingAmpSubwoofer)
-                .addPoseWaypoint(startingAmpWall.transformBy(GeomUtil.toTransform2d(-1.0, 0.0)))
+                .addTranslationWaypoint(
+                    FieldConstants.StagingLocations.spikeTranslations[2].plus(
+                        new Translation2d(1.0, 0.0)))
                 .build()));
   }