03/14/26 - 21 36

Author: AshOnDiscord

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/common/subsystem/AutoAdjustData.kt

@@ -11,12 +11,12 @@ fun <K, V> treeMapOf(vararg pairs: Pair<K, V>): TreeMap<K, V> {
 }
 
 val DATA: TreeMap<Distance, Pair<RPM, Angle>> = treeMapOf(
-    40.0 to (3000.0 to 0.0),
-    44.0 to (3000.0 to 0.0),
-    48.0 to (2900.0 to 0.0),
-    52.0 to (2900.0 to 0.0),
-    56.0 to (3000.0 to 0.0),
-    60.0 to (3000.0 to 0.0),
+    40.0 to (2800.0 to 0.0),
+    44.0 to (2900.0 to 0.0),
+    48.0 to (2800.0 to 0.0),
+    52.0 to (2800.0 to 0.0),
+    56.0 to (2800.0 to 0.0),
+    60.0 to (2900.0 to 0.0),
     64.0 to (3000.0 to 0.0),
     68.0 to (3100.0 to 0.0),
     72.0 to (3100.0 to 0.0),

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/auton/Far15BallAuton.kt

@@ -82,7 +82,7 @@ open class Far15BallAuton(var isRed: Boolean) : OpMode() {
 
             +autonManager.runPath(6)
             +autonManager.runPath(7)
-            Command { SleepFor { stablizationTime } }
+            Command { SleepFor { intake.power = -1.0; stablizationTimeLong } }
             +fire
 
             +autonManager.runPath(8)
@@ -93,7 +93,7 @@ open class Far15BallAuton(var isRed: Boolean) : OpMode() {
 
             +autonManager.runPath(6)
             +autonManager.runPath(7)
-            Command { SleepFor { stablizationTime } }
+            Command { SleepFor { intake.power = -1.0; stablizationTimeLong } }
             +fire
 
             +autonManager.runPath(11)
@@ -110,5 +110,8 @@ open class Far15BallAuton(var isRed: Boolean) : OpMode() {
 
         @JvmField
         var stablizationTime = 200L
+
+        @JvmField
+        var stablizationTimeLong = 1000L
     }
 }