update processor sequence - drive practice

Author: mwitcpalek

src/main/java/frc/robot/commands/auton/IRIAutonCommand.java

@@ -64,7 +64,8 @@ public IRIAutonCommand(
             new PrepOdomForAutoCommand(
                 robotStateSubsystem, driveSubsystem, Rotation2d.fromDegrees(90.0), startPose),
             new ZeroElevatorCommand(elevatorSubsystem)),
-        new ForceLowFloorAlgaeCommand(robotStateSubsystem, elevatorSubsystem, biscuitSubsystem, algaeSubsystem),
+        new ForceLowFloorAlgaeCommand(
+            robotStateSubsystem, elevatorSubsystem, biscuitSubsystem, algaeSubsystem),
         new SetAutoPlacingCommand(robotStateSubsystem, true),
         new ForceBargeCommand(
             robotStateSubsystem, elevatorSubsystem, biscuitSubsystem, algaeSubsystem),

src/main/java/frc/robot/constants/AlgaeConstants.java

@@ -29,7 +29,7 @@ public class AlgaeConstants {
   public static final double kHoldSpeed = 1;
   public static final double kCoralHoldSpeed = -0.05;
   public static final double kBargeScoreSpeed = -1;
-  public static final double kProcessorScoreSpeed = -1;
+  public static final double kProcessorScoreSpeed = -0.5; // was -1.0
   public static final double kCoralScoreSpeed = 0.3; // 0.5; was 0.4
   public static final double kIntakingSpeed = 1; // 0.75
   public static final double kCoralIntakingSpeed = -0.3; // -0.75;

src/main/java/frc/robot/subsystems/robotState/RobotStateSubsystem.java

@@ -1182,6 +1182,7 @@ public void periodic() {
                   FastMath.pow2(currentPose.getX() - processorReleasePose.getX())
                       + FastMath.pow2(currentPose.getY() - processorReleasePose.getY()));
           Logger.recordOutput("RobotState/Processor Release Distance", distanceFromRelease);
+          algaeSubsystem.holdAlgae(); // stop wheels once algae is out
 
           if (distanceFromRelease > RobotStateConstants.kProcessorStowRadius) {
             isEjectingAlgae = false;