changed constants

team20 · Jan 25, 2025 · eadc7c9 · eadc7c9
1 parent c78bd2f
commit eadc7c9
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Showing 2 changed files with 3 additions and 3 deletions.
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -109,7 +109,7 @@ public static final class RobotConstants {
 		 * The {@code Transform3d} expressing the pose of the camera relative to the
 		 * pose of the robot.
 		 */
-		public static Transform3d kRobotToCamera1 = new Transform3d(new Translation3d(0.3, 0.0, 0.2),
+		public static Transform3d kRobotToCamera1 = new Transform3d(new Translation3d(0.0, -0.1, 0.2),
 				new Rotation3d(0, Units.degreesToRadians(-20), 0));
 	}
 }
diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
@@ -67,12 +67,12 @@ public void bindDriveControls() {
 						() -> -m_driverController.getLeftX(),
 						() -> m_driverController.getR2Axis() - m_driverController.getL2Axis(),
 						m_driverController.getHID()::getSquareButton));
-		Transform2d robotToTarget = new Transform2d(.8, 0, Rotation2d.fromDegrees(180));
+		Transform2d robotToTarget = new Transform2d(1.5, 0, Rotation2d.fromDegrees(180));
 		m_driverController.button(Button.kSquare)
 				.whileTrue(
 						AlignCommand.moveToClosestTag(
 								m_driveSubsystem, m_poseEstimationSubystem, 90, 3, robotToTarget,
-								.1, 3));
+								.2, 10));
 	}
 
 	@Override