pdh perma off and new ta thresh

Patribots4738 · Oct 29, 2024 · bf88725 · bf88725
1 parent 7be869f
commit bf88725
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Showing 2 changed files with 4 additions and 5 deletions.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -306,10 +306,8 @@ private void configureTimedEvents() {
             && shooter.getAverageSpeed() > 1700
             && swerve.getPose().getX() > FieldConstants.CENTERLINE_X ^ Robot.isBlueAlliance()
             && limelight3g.getPose2d().getTranslation().getDistance(swerve.getPose().getTranslation()) < Units.inchesToMeters(4))
-        .onTrue(Commands.runOnce(() -> 
-            pdh.setSwitchableChannel(true)).alongWith(limelight3g.blinkLeds(() -> 1), driver.setRumble(() -> 1)))
-        .onFalse(Commands.runOnce(() -> 
-            pdh.setSwitchableChannel(false)).alongWith(driver.setRumble(() -> 0)));
+        .onTrue(Commands.runOnce(() -> driver.setRumble(() -> 1)))
+        .onFalse(Commands.runOnce(() -> driver.setRumble(() -> 0)));
 
         // When our alliance changes, reflect that in the path previewer
         new Trigger(Robot::isRedAlliance)

diff --git a/src/main/java/frc/robot/util/Constants.java b/src/main/java/frc/robot/util/Constants.java
@@ -1187,7 +1187,8 @@ public static final class CameraConstants {
         public static final long LIMELIGHT_MAX_UPDATE_TIME = 200_000; // Micro Seconds = 0.2 Seconds
 
         public static final double LIMELIGHT_3G_DOUBLE_TA_CUTOFF_AUTO = 0.070;
-        public static final double LIMELIGHT_3G_DOUBLE_TA_CUTOFF_TELE = 0.046;
+        public static final double LIMELIGHT_3G_DOUBLE_TA_CUTOFF_TELE = 0.060
+        ;
 
         public static final double LIMELIGHT_3G_SINGLE_TA_CUTOFF_AUTO = 0.175;
         public static final double LIMELIGHT_3G_SINGLE_TA_CUTOFF_TELE = 0.141;