Merge pull request #241 from strykeforce/hotfix-19-5-1

Hotfix 19-5-0

Author: mwitcpalek

src/main/java/frc/team2767/deepspace/command/sequences/pickup/CoconutPickupAutoRetryCommand.java

@@ -17,8 +17,8 @@ public class CoconutPickupAutoRetryCommand extends Command {
   private static final double WAIT_TIME = 1000; // ms
   private static final double DOWN_TIMEOUT = 1500;
   private static final double RESET_HEIGHT = 20.25;
-  private static final double STRING_COMPRESSED_LENGTH = 223.0; // full length is 252
-  private static double DOWN_SPEED = -0.35;
+  private static final double STRING_COMPRESSED_LENGTH = 230.0; // full length is 252, was 223
+  private static double DOWN_SPEED = -0.37; // was 35
   private PickupState state;
   private double initialPressure;
   private double startSealTime;

src/main/kotlin/frc/team2767/deepspace/command/HealthCheckCommand.kt

@@ -118,34 +118,34 @@ class HealthCheckCommand : Command() {
                 name = "elevator position tests"
                 talons = Robot.ELEVATOR.talons
 
-                val elevatorDownCurrentRange = 0.5..3.0
-                val elevatorUpCurrentRange = 0.5..3.0
+                val elevatorDownCurrentRange = 0.25..1.5
+                val elevatorUpCurrentRange = 2.0..3.5
 
                 positionTalon {
                     encoderTarget = 10_000
                     encoderGoodEnough = 100
                 }
 
                 positionTest {
-                    percentOutput = 0.2
+                    percentOutput = 0.23
 
                     encoderChangeTarget = 15_000
                     encoderGoodEnough = 500
                     encoderTimeOutCount = 5000
 
                     currentRange = elevatorUpCurrentRange
-                    speedRange = 200..300
+                    speedRange = 250..450
                 }
 
                 positionTest {
-                    percentOutput = -0.2
+                    percentOutput = -0.183
 
                     encoderChangeTarget = 15_000
                     encoderGoodEnough = 500
                     encoderTimeOutCount = 5000
 
                     currentRange = elevatorDownCurrentRange
-                    speedRange = -900..-750
+                    speedRange = -750..-550
                 }
             }