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Team2337 · Feb 18, 2022 · e7e571a · e7e571a
1 parent 0c82132
commit e7e571a
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Showing 4 changed files with 4 additions and 4 deletions.
diff --git a/src/main/java/com/swervedrivespecialties/swervelib/ctre/CtreUtils.java b/src/main/java/com/swervedrivespecialties/swervelib/ctre/CtreUtils.java
@@ -9,7 +9,7 @@ private CtreUtils() {}
 
     public static void checkCtreError(ErrorCode errorCode, String message) {
         if (errorCode != ErrorCode.OK) {
-            DriverStation.reportError(String.format("%s: %s", message, errorCode.toString()), false);
+            // DriverStation.reportError(String.format("%s: %s", message, errorCode.toString()), false);
         }
     }
 }
diff --git a/...ava/com/swervedrivespecialties/swervelib/ctre/Falcon500SteerControllerFactoryBuilder.java b/...ava/com/swervedrivespecialties/swervelib/ctre/Falcon500SteerControllerFactoryBuilder.java
@@ -151,7 +151,7 @@ public ControllerImplementation create(Falcon500SteerConfiguration<T> steerConfi
     }
 
     private static class ControllerImplementation implements SteerController {
-        private static final int ENCODER_RESET_ITERATIONS = 500;
+        private static final int ENCODER_RESET_ITERATIONS = 125;
         private static final double ENCODER_RESET_MAX_ANGULAR_VELOCITY = Math.toRadians(0.5);
 
         private final TalonFX motor;

diff --git a/src/main/java/frc/robot/commands/teleop/FlareCommand.java b/src/main/java/frc/robot/commands/teleop/FlareCommand.java
@@ -19,7 +19,7 @@ public FlareCommand(Supplier<Translation2d> robotTranslationSupplier, AutoDrive
 
   public FlareCommand(Translation2d targetMeters, Supplier<Translation2d> robotTranslationSupplier, AutoDrive autoDrive, Drivetrain drivetrain, Heading heading) {
     addCommands(
-      new HeadingToTargetSequenceCommand(targetMeters, robotTranslationSupplier, heading).withTimeout(1),
+      new HeadingToTargetSequenceCommand(targetMeters, robotTranslationSupplier, heading),
       new DistanceToTargetCommand(targetMeters, Units.inchesToMeters(10), robotTranslationSupplier, autoDrive, heading)
     );
   }

diff --git a/src/main/java/frc/robot/subsystems/Heading.java b/src/main/java/frc/robot/subsystems/Heading.java
@@ -52,7 +52,7 @@ public class Heading extends SubsystemBase {
   /**
    * PID used to converge the robot to the maintainHeading from it's current heading.
    */
-  private PIDController rotationController = new PIDController(0.007, 0.0, 0.0);
+  private PIDController rotationController = new PIDController(0.01, 0.0, 0.0);
 
   /**
    * Heading subsystem to maintain a static heading of the robot.