the final merge? PLEASE

Patribots4738 · Nov 7, 2023 · fbf536d · fbf536d
2 parents 0583ef9 + c86c66b
commit fbf536d
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Showing 2 changed files with 5 additions and 20 deletions.
diff --git a/src/main/java/auto/AutoSegmentedWaypoints.java b/src/main/java/auto/AutoSegmentedWaypoints.java
@@ -244,7 +244,7 @@ else if (SwerveTrajectory.trajectoryStatus.equals("done")) {
       }
 
       // 0.2 seconds since the claw has moved (and if there are more waypoints)
-      if (((Timer.getFPGATimestamp() - autoDelay > 0.3 && clawHasStarted) || currentWaypointNumber == 0) || (clawSpeed == PlacementConstants.CLAW_STOPPED_SPEED)) {
+      if (((Timer.getFPGATimestamp() - autoDelay > 0.15 && clawHasStarted) || currentWaypointNumber == 0) || (clawSpeed == PlacementConstants.CLAW_STOPPED_SPEED)) {
         stateHasFinished = true;
       }
     }

diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
@@ -103,13 +103,6 @@ public void robotInit() {
       }
       Timer.delay(0.25);
 
-      // Wait wait wait wait for the DS to connect
-      // then assign our alliance color
-      while (DriverStation.getAlliance() == Alliance.Invalid) {
-        DriverStation.refreshData();
-      }
-
-      FieldConstants.ALLIANCE = DriverStation.getAlliance();
   }
 
   /**
@@ -122,22 +115,11 @@ public void robotInit() {
   @Override
   public void robotPeriodic() {
 
-    double dt = Timer.getFPGATimestamp() - DriverUI.currentTimestamp;
-    SmartDashboard.putNumber("Timer/dTPrelog", dt);
-
     Logger.updateEntries();
     arduinoController.periodic();
     claw.updateOutputCurrent();
     arm.logPositions();
     swerve.logPositions();
-
-    dt = Timer.getFPGATimestamp() - DriverUI.currentTimestamp;
-
-    if (dt > 0.02) DriverUI.overrunCount++;
-
-    SmartDashboard.putNumber("Timer/dTPostlog", dt);
-    SmartDashboard.putNumber("Timer/overrunCounter", DriverUI.overrunCount);
-    DriverUI.currentTimestamp = Timer.getFPGATimestamp();
 
   }
 
@@ -164,7 +146,10 @@ public void disabledInit() {
 
   @Override
   public void disabledPeriodic() {
-    FieldConstants.ALLIANCE = DriverStation.getAlliance();
+    if (DriverStation.getAlliance() != Alliance.Invalid) {
+        FieldConstants.ALLIANCE = DriverStation.getAlliance();
+    }
+
     if (FieldConstants.ALLIANCE != Alliance.Invalid) {
         if (Math.abs(swerve.getPitch().getDegrees()) > 35) {
             arduinoController.setLEDState(LEDConstants.BELLY_PAN_CHROMA);