From c6adc0fa418d3c7fc95a58e1c6b5eb57c3a4b42d Mon Sep 17 00:00:00 2001
From: CXLYSG <115902987+CXLYSG@users.noreply.github.com>
Date: Sat, 24 Aug 2024 16:46:30 -0700
Subject: [PATCH] Amp Shooter Pivot Position Tuning

---
 Robot2024/src/main/java/com/team2813/AutoCommands.java   | 2 +-
 .../main/java/com/team2813/subsystems/ShooterPivot.java  | 9 +++------
 2 files changed, 4 insertions(+), 7 deletions(-)

diff --git a/Robot2024/src/main/java/com/team2813/AutoCommands.java b/Robot2024/src/main/java/com/team2813/AutoCommands.java
index dcc0606..b1c24dc 100644
--- a/Robot2024/src/main/java/com/team2813/AutoCommands.java
+++ b/Robot2024/src/main/java/com/team2813/AutoCommands.java
@@ -116,7 +116,7 @@ public Command shootSide() {
 	private volatile Command shootAmp = null;
 
 	private Command createShootAmp() {
-		return new ShootFromPosCommand(magazine, shooter, shooterPivot, Position.AMP, 20);
+		return new ShootFromPosCommand(magazine, shooter, shooterPivot, Position.AMP, 17.5);
 	}
 
 	public Command shootAmp() {
diff --git a/Robot2024/src/main/java/com/team2813/subsystems/ShooterPivot.java b/Robot2024/src/main/java/com/team2813/subsystems/ShooterPivot.java
index a990f3c..e02d0fc 100644
--- a/Robot2024/src/main/java/com/team2813/subsystems/ShooterPivot.java
+++ b/Robot2024/src/main/java/com/team2813/subsystems/ShooterPivot.java
@@ -20,7 +20,7 @@ public class ShooterPivot extends MotorSubsystem<ShooterPivot.Position> {
 
 	public ShooterPivot() {
 		super(new MotorSubsystemConfiguration(
-				pivotMotor()).acceptableError(0.004)
+				pivotMotor()).acceptableError(0.002)
 				.PID(3.4, 0, 0).startingPosition(Position.TOP_HARD_STOP));
 		SmartDashboard.putData("Shooter Pivot PID", m_controller);
 	}
@@ -50,9 +50,6 @@ private static PIDMotor pivotMotor() {
 
 	@Override
 	protected void useOutput(double output, double setpoint) {
-		if (output < 0) {
-			output -= 0.15;
-		}
 		super.useOutput(output, setpoint);
 	}
 
@@ -66,12 +63,12 @@ public static enum Position implements MotorSubsystem.Position {
 		TOP_HARD_STOP(0),
 		SUBWOOFER_FRONT(0.023926),
 		SUBWOOFER_SIDE(0.023926),
-		AMP(0.022217),
+		AMP(0.0307), 
 		PODIUM(0.076660),
 		TEST(0.067871),
 		FAR_SPEAKER(0.088135),
 		SOURCE_INTAKE(0.048096),
-		BOTTOM_HARD_STOP(0.099854);
+		BOTTOM_HARD_STOP(0.099854); //use Phoenix Tuner motor feedback position value
 
 		private final double pos;