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team581 · Apr 18, 2024 · 276c5cd · 276c5cd
1 parent 8d9e5df
commit 276c5cd
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Showing 2 changed files with 10 additions and 7 deletions.
diff --git a/src/main/java/frc/robot/intake/IntakeSubsystem.java b/src/main/java/frc/robot/intake/IntakeSubsystem.java
@@ -73,7 +73,7 @@ public void robotPeriodic() {
         motor.setVoltage(8);
         break;
       case SHUFFLE:
-        motor.setVoltage(0.5); 
+        motor.setVoltage(0.5);
         break;
       default:
         break;

diff --git a/src/main/java/frc/robot/vision/VisionSubsystem.java b/src/main/java/frc/robot/vision/VisionSubsystem.java
@@ -35,10 +35,13 @@ public class VisionSubsystem extends LifecycleSubsystem {
   public static final Pose2d ORIGINAL_BLUE_SPEAKER =
       new Pose2d(Units.inchesToMeters(0), Units.inchesToMeters(218.42), Rotation2d.fromDegrees(0));
 
-  public static final Pose2d RED_FLOOR_SPOT_SUBWOOFER = new Pose2d(15.5, 7.9, Rotation2d.fromDegrees(180));
-  public static final Pose2d BLUE_FLOOR_SPOT_SUBWOOFER = new Pose2d(1, 7.9, Rotation2d.fromDegrees(0));
+  public static final Pose2d RED_FLOOR_SPOT_SUBWOOFER =
+      new Pose2d(15.5, 7.9, Rotation2d.fromDegrees(180));
+  public static final Pose2d BLUE_FLOOR_SPOT_SUBWOOFER =
+      new Pose2d(1, 7.9, Rotation2d.fromDegrees(0));
 
-  public static final Pose2d RED_FLOOR_SPOT_AMP_AREA = new Pose2d(9.5, 7, Rotation2d.fromDegrees(180));
+  public static final Pose2d RED_FLOOR_SPOT_AMP_AREA =
+      new Pose2d(9.5, 7, Rotation2d.fromDegrees(180));
   public static final Pose2d BLUE_FLOOR_SPOT_AMP_AREA = new Pose2d(7, 7, Rotation2d.fromDegrees(0));
 
   private static final Pose2d RED_FLOOR_SHOT_ROBOT_FALLBACK_POSE =
@@ -262,13 +265,13 @@ public DistanceAngle getDistanceAngleFloorShot() {
     fallbackPose = new Pose2d(fallbackPose.getTranslation(), robotPose.getRotation());
     var usedRobotPose = getState() == VisionState.OFFLINE ? fallbackPose : robotPose;
 
-    var subwooferSpotDistance =  distanceToTargetPose(goalPoseSubwoofer, usedRobotPose);
+    var subwooferSpotDistance = distanceToTargetPose(goalPoseSubwoofer, usedRobotPose);
     var usedGoalPose = goalPoseSubwoofer;
     var result = subwooferSpotDistance;
 
     if (subwooferSpotDistance.distance() > 14.0) {
-        result = distanceToTargetPose(goalPoseAmpArea, usedRobotPose);
-        usedGoalPose = goalPoseAmpArea;
+      result = distanceToTargetPose(goalPoseAmpArea, usedRobotPose);
+      usedGoalPose = goalPoseAmpArea;
     }
 
     if (RobotConfig.IS_DEVELOPMENT) {