Merge branch 'main' into comp-2025

Author: Cowboylaserkittenjetshark

playstreams.sh

@@ -21,8 +21,8 @@ const CONFIG_FILE: &str = "config.toml";
 const CONTROL_BOARD_PATH: &str = "/dev/ttyACM0";
 const CONTROL_BOARD_BACKUP_PATH: &str = "/dev/ttyACM3";
 const MEB_PATH: &str = "/dev/ttyACM2";
-const FRONT_CAM: &str = "/dev/video1";
-const BOTTOM_CAM: &str = "/dev/video0";
+const FRONT_CAM: &str = "/dev/video0";
+const BOTTOM_CAM: &str = "/dev/video1";
 
 #[derive(Debug, Serialize, Deserialize)]
 pub struct Config {

src/config/mod.rs

@@ -119,7 +119,7 @@ pub fn coinflip<
     const TRUE_COUNT: u32 = 4;
     const DELAY_TIME: f32 = 3.0;
 
-    const DEPTH: f32 = -1.25;
+    const DEPTH: f32 = -1.6;
     const ALIGN_X_SPEED: f32 = 0.0;
     const ALIGN_Y_SPEED: f32 = 0.0;
     const ALIGN_YAW_SPEED: f32 = -3.0;

src/missions/coinflip.rs

@@ -585,7 +585,7 @@ pub fn gate_run_coinflip<
             ActionChain::new(
                 Stability2Movement::new(
                     context,
-                    Stability2Pos::new(0.0, 1.0, 0.0, 0.0, None, depth),
+                    Stability2Pos::new(0.0, 0.5, 0.0, 0.0, None, depth),
                 ),
                 OutputType::<()>::default()
             ),
@@ -598,7 +598,7 @@ pub fn gate_run_coinflip<
             ActionChain::new(
                 Stability2Movement::new(
                     context,
-                    Stability2Pos::new(0.0, 1.0, 0.0, 0.0, None, depth),
+                    Stability2Pos::new(0.0, 0.5, 0.0, 0.0, None, depth),
                 ),
                 OutputType::<()>::default()
             ),
@@ -617,7 +617,7 @@ pub fn gate_run_coinflip<
             ActionChain::new(
                 Stability2Movement::new(
                     context,
-                    Stability2Pos::new(0.0, 0.5, 0.0, 0.0, None, depth),
+                    Stability2Pos::new(0.0, 0.0, 0.0, 0.0, None, depth),
                 ),
                 OutputType::<()>::default()
             ),