day 1 changes

Author: e-bauman

config.py

@@ -148,6 +148,7 @@
 horizontal_intake_speed = 0.5
 l1_eject_speed = 0.25
 intake_algae_speed = 1
+extake_algae_speed = 0.3
 
 # elevator
 elevator_lead_id = 9
@@ -183,7 +184,7 @@
 intake_algae_ground_angle = math.radians(58)
 intake_algae_score_angle = math.radians(32)
 intake_climb_angle = math.radians(20)
-intake_coral_station_angle = 0
+intake_coral_station_angle = math.radians(-0.095)
 intake_l1_angle = math.radians(37)
 
 wrist_intake_angle = math.radians(-114.5)

deploy/choreo/4_piece.chor

@@ -57,16 +57,16 @@
   },
   "bumper":{
    "front":{
-    "exp":"16.25 in",
-    "val":0.41275
+    "exp":"18 in",
+    "val":0.4572
    },
    "side":{
-    "exp":"16.25 in",
-    "val":0.41275
+    "exp":"18 in",
+    "val":0.4572
    },
    "back":{
-    "exp":"16.25 in",
-    "val":0.41275
+    "exp":"18 in",
+    "val":0.4572
    }
   },
   "differentialTrackWidth":{

deploy/choreo/Four L4 Left.traj

@@ -92,7 +92,10 @@ def map_controls():
 
         Keymap.Intake.INTAKE_L1.whileTrue(
             commands2.SequentialCommandGroup(
-                command.Target(config.target_positions["INTAKE_L1"], Robot.wrist, Robot.elevator),
+                commands2.ParallelCommandGroup(
+                    command.Target(config.target_positions["INTAKE_L1"], Robot.wrist, Robot.elevator),
+                    command.SetPivot(Robot.intake, config.intake_coral_station_angle)
+                ),
                 command.RunIntake(Robot.intake)
             )
         )

deploy/choreo/Four L4 Right.traj

@@ -79,7 +79,7 @@ def roll_out(self, speed: float = config.horizontal_intake_speed) -> None:
     def extake_algae(self) -> None:
 
         self.horizontal_motor.set_raw_output(
-            config.horizontal_intake_speed
+            config.extake_algae_speed
         )
 
         self.intake_running = True