From 46566a0e9244914a4b6165615a6183f900e3a63e Mon Sep 17 00:00:00 2001
From: Coolearthsky <113796041+Coolearthsky@users.noreply.github.com>
Date: Mon, 27 Jan 2025 19:57:48 -0800
Subject: [PATCH] Work from today

---
 comp/src/main/java/org/team100/frc2025/RobotContainer.java    | 2 +-
 lib/src/main/java/org/team100/lib/config/Camera.java          | 4 ++--
 .../lib/motion/drivetrain/module/SwerveModuleCollection.java  | 4 ++--
 3 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/comp/src/main/java/org/team100/frc2025/RobotContainer.java b/comp/src/main/java/org/team100/frc2025/RobotContainer.java
index 4dc0ff6..5abc291 100644
--- a/comp/src/main/java/org/team100/frc2025/RobotContainer.java
+++ b/comp/src/main/java/org/team100/frc2025/RobotContainer.java
@@ -209,7 +209,7 @@ public RobotContainer(TimedRobot100 robot) throws IOException {
         // ObjectPosition24ArrayListener objectPosition24ArrayListener = new ObjectPosition24ArrayListener(poseEstimator);
 
         //DRIVER BUTTONS
-        whileTrue(driverControl::driveToObject, new DriveWithProfile2(fieldLog, () -> (Optional.of(new Pose2d(11.5,5, new Rotation2d()))), m_drive, new FullStateDriveController(hlog),swerveKinodynamics));
+        whileTrue(driverControl::driveToObject, new DriveWithProfile2(fieldLog, () -> (Optional.of(new Pose2d(1,4x, new Rotation2d()))), m_drive, new FullStateDriveController(hlog),swerveKinodynamics));
         onTrue(driverControl::resetRotation0, new ResetPose(m_drive, 0, 0, 0));
         onTrue(driverControl::resetRotation180, new SetRotation(m_drive, GeometryUtil.kRotation180));
         whileTrue(driverControl::driveWithFancyTrajec,
diff --git a/lib/src/main/java/org/team100/lib/config/Camera.java b/lib/src/main/java/org/team100/lib/config/Camera.java
index 0f76f32..45caabb 100644
--- a/lib/src/main/java/org/team100/lib/config/Camera.java
+++ b/lib/src/main/java/org/team100/lib/config/Camera.java
@@ -49,7 +49,7 @@ public enum Camera {
     /**
      * Camera bot intake
      */
-    GLOBAL_GAME_PIECE("364f07fb090a3bf7",
+    GLOBAL_GAME_PIECE("d44649628c20d4d4",
             new Transform3d(
                     new Translation3d(0.2, -0.05, 0.381),
                     new Rotation3d(0, Math.toRadians(20), 0))),
@@ -57,7 +57,7 @@ public enum Camera {
      /**
      * Camera bot right april tag detector
      */
-    GLOBAL_RIGHT("d44649628c20d4d4",
+    GLOBAL_RIGHT("364f07fb090a3bf7",
             new Transform3d(
                     new Translation3d(0.15, -0.095, 0.381),
                     new Rotation3d(0, Math.toRadians(-20), Math.toRadians(-30)))),
diff --git a/lib/src/main/java/org/team100/lib/motion/drivetrain/module/SwerveModuleCollection.java b/lib/src/main/java/org/team100/lib/motion/drivetrain/module/SwerveModuleCollection.java
index 40409c1..3ca97d9 100644
--- a/lib/src/main/java/org/team100/lib/motion/drivetrain/module/SwerveModuleCollection.java
+++ b/lib/src/main/java/org/team100/lib/motion/drivetrain/module/SwerveModuleCollection.java
@@ -95,7 +95,7 @@ public static SwerveModuleCollection get(
                                 kinodynamics,
                                 EncoderDrive.INVERSE, MotorPhase.REVERSE));
             case SWERVE_ONE:
-                Util.println("************** WCP MODULES w/Analog Encoders **************");
+                Util.println("************** WCP MODULES w/Duty-Cycle Encoders **************");
                 return new SwerveModuleCollection(
                         WCPSwerveModule100.getFalconDrive(frontLeftLogger,
                                 currentLimit,
@@ -134,7 +134,7 @@ public static SwerveModuleCollection get(
                                 DriveRatio.FAST, DutyCycleRotaryPositionSensor.class,
                                 33,
                                 9,
-                                0.242,
+                                0.170,
                                 kinodynamics,
                                 EncoderDrive.INVERSE, MotorPhase.REVERSE));
             case BETA_BOT: