raise lift earlier

Author: kevinzwang

AAAScripts/scripts.txt

@@ -9,15 +9,14 @@ moveto (0,120) #Drive past auto line
 RRxx:
 moveto (0,155) 
 turn -90
-move 10
 switch
 
 RLxx:
 move 56
 turn -90
 move 170
 turn 90
-move 35
+move 25
 switch
 
 
@@ -35,7 +34,6 @@ exchange
 RRxE:
 moveto (0,155) 
 turn -90
-move 12
 switch
 turn -90
 move 105
@@ -55,7 +53,7 @@ move 56
 turn -90
 move 170
 turn 90
-move 35
+move 25
 switch
 move -40
 turn 90
@@ -80,15 +78,14 @@ moveto (0, 120) #Drive past auto line
 LLxx:
 move 150
 turn 90
-move 12
 switch
 
 LRxx:
 move 56
 turn 90
 move 170
 turn -90
-move 35
+move 25
 switch	
 
 
@@ -106,7 +103,6 @@ exchange
 LLxE:
 move 150
 turn 90
-move 12
 switch
 turn 90
 move 95
@@ -126,7 +122,7 @@ move 56
 turn 90
 move 170
 turn -90
-move 35
+move 25
 switch
 move -40
 turn -90
@@ -148,17 +144,17 @@ moveto (0,50) (48,50) (48,92)  #cross baseline
 
 # Switch
 CRxx:
-moveto (0,50) (48,50) (48,95) 
+moveto (0,50) (48,50) (48,85) 
 switch #deploy switch 
 
 CLxx:
-moveto (0,50) (-56,50) (-56,95)
+moveto (0,50) (-56,50) (-56,85)
 switch #deploy switch 
 
 
 # Switch and Exchange
 CRxE:
-moveto (0,50) (48,50) (48,95) 
+moveto (0,50) (48,50) (48,85) 
 switch #deploy switch 
 move -48 # 3 feet back
 turn -90
@@ -173,7 +169,7 @@ exchange
 
 
 CLxE:
-moveto (0,50) (-56,50) (-56,95) 
+moveto (0,50) (-56,50) (-56,85) 
 switch #deploy switch 
 move -48 # 3 feet back
 turn 90

Robot2018/src/org/usfirst/frc/team199/Robot2018/commands/EjectToScale.java

@@ -12,9 +12,9 @@ public class EjectToScale extends CommandGroup {
 	public EjectToScale() {
 		addSequential(new AutoLift(Robot.lift, "SCALE"));
 		addSequential(
-				new PIDMove(Robot.getConst("Auto Scale Move Dist", 12), Robot.dt, Robot.sd, Robot.dt.getDistEncAvg()));
+				new PIDMove(Robot.getConst("Auto Scale Move Dist", 18), Robot.dt, Robot.sd, Robot.dt.getDistEncAvg()));
 		addSequential(new OuttakeCube());
-		addSequential(new PIDMove(-1 * Robot.getConst("Auto Scale Move Dist", 12), Robot.dt, Robot.sd,
+		addSequential(new PIDMove(-1 * Robot.getConst("Auto Scale Move Dist", 18), Robot.dt, Robot.sd,
 				Robot.dt.getDistEncAvg()));
 		addSequential(new AutoLift(Robot.lift, "GROUND"));
 	}

Robot2018/src/org/usfirst/frc/team199/Robot2018/commands/EjectToSwitch.java

@@ -12,9 +12,9 @@ public class EjectToSwitch extends CommandGroup {
 	public EjectToSwitch() {
 		addSequential(new AutoLift(Robot.lift, "SWITCH"));
 		addSequential(
-				new PIDMove(Robot.getConst("Auto Switch Move Dist", 12), Robot.dt, Robot.sd, Robot.dt.getDistEncAvg()));
+				new PIDMove(Robot.getConst("Auto Switch Move Dist", 18), Robot.dt, Robot.sd, Robot.dt.getDistEncAvg()));
 		addSequential(new OuttakeCube());
-		addSequential(new PIDMove(-1 * Robot.getConst("Auto Switch Move Dist", 12), Robot.dt, Robot.sd,
+		addSequential(new PIDMove(-1 * Robot.getConst("Auto Switch Move Dist", 18), Robot.dt, Robot.sd,
 				Robot.dt.getDistEncAvg()));
 		addSequential(new AutoLift(Robot.lift, "GROUND"));
 	}