fix regression

src/main/java/frc/robot/Orchestrator.java

@@ -8,11 +8,11 @@
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.geometry.Transform2d;
 import edu.wpi.first.math.util.Units;
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import frc.lib.utils.AllianceFlipUtil;
+import frc.lib.utils.TunableNumber;
 import frc.robot.FieldConstants.Hub;
 import frc.robot.commands.auto.DriveToPose;
 import frc.robot.commands.auto.RotateToOrientation;
@@ -28,6 +28,9 @@
 import org.littletonrobotics.junction.Logger;
 
 public class Orchestrator {
+  private static final TunableNumber testRadPerSec =
+      new TunableNumber("Shooter/TestRadPerSec", CLOSE_HUB_SHOOTER_RPM);
+
   private final double FRONT_HUB_OFFSET = Units.inchesToMeters(40.0);
   private final Drive drive;
   private final Shooter shooter;
@@ -158,13 +161,11 @@ public Command feedUp() {
   }
 
   public Command spinUpShooterTest() {
-    SmartDashboard.putNumber("Shooter/TestRPM", CLOSE_HUB_SHOOTER_RPM);
-    return shooter
-        .setTargetVelocityRadians(
-            () ->
-                Units.rotationsPerMinuteToRadiansPerSecond(
-                    SmartDashboard.getNumber("Shooter/TestRPM", 1000.0)))
-        .withName("spinUpShooterTest");
+<<<<<<< HEAD
+    return shooter.setTargetVelocityRadians(() -> testRPM.get()).withName("spinUpShooterTest");
+=======
+    return shooter.setTargetVelocityRadians(testRadPerSec).withName("spinUpShooterTest");
+>>>>>>> refs/remotes/origin/regression
   }
 
   public Command spinUpShooterDistance(DoubleSupplier targetDistance) {

src/main/java/frc/robot/RobotContainer.java

@@ -308,8 +308,8 @@ public RobotContainer() {
 
     autoChooser.addOption("pp", autos.ppACycleLeft());
     autoChooser.addOption("ppB", autos.ppBCycleRight());
-    autoChooser.addOption("ppB Cycle Right Regression", autos.ppBCycleRightRegression());
-    autoChooser.addOption("ppA Cycle Left Regression", autos.ppACycleLeftRegression());
+    // autoChooser.addOption("ppB Cycle Right Regression", autos.ppBCycleRightRegression());
+    // autoChooser.addOption("ppA Cycle Left Regression", autos.ppACycleLeftRegression());
     // Configure the button bindings
     configureButtonBindings();
   }

src/main/java/frc/robot/commands/auto/Autos.java

@@ -149,46 +149,6 @@ public Command ppBCycleRight() {
             orchestrator.feedUp()));
   }
 
-  public Command ppBCycleRightRegression() {
-    return Commands.sequence(
-        Commands.runOnce(() -> drive.setPose(startBside.get())),
-        Commands.deadline(
-                drive.getAutonomousCommand("B-Cycle-RightSweep"),
-                intake.extendToAngleAndIntake(IntakeConstants.EXTEND_POS).withTimeout(5.5))
-            .withTimeout(14.5),
-        Commands.deadline(
-            orchestrator.aimToHub().withTimeout(2.5),
-            orchestrator.spinUpShooterDistance(orchestrator.getHubDistance())),
-        Commands.parallel(
-                orchestrator.spinUpShooterDistance(orchestrator.getHubDistance()),
-                orchestrator.feedUp())
-            .withTimeout(2.5),
-        Commands.parallel(
-            intake.extendToAngleAndIntake(IntakeConstants.COLLAPSE_POS),
-            orchestrator.spinUpShooterDistance(orchestrator.getHubDistance()),
-            orchestrator.feedUp()));
-  }
-
-  public Command ppACycleLeftRegression() {
-    return Commands.sequence(
-        Commands.runOnce(() -> drive.setPose(startAside.get())),
-        Commands.deadline(
-                drive.getAutonomousCommand("A-Cycle-LeftSweep"),
-                intake.extendToAngleAndIntake(IntakeConstants.EXTEND_POS).withTimeout(5.5))
-            .withTimeout(14.5),
-        Commands.deadline(
-            orchestrator.aimToHub().withTimeout(2.5),
-            orchestrator.spinUpShooterDistance(orchestrator.getHubDistance())),
-        Commands.parallel(
-                orchestrator.spinUpShooterDistance(orchestrator.getHubDistance()),
-                orchestrator.feedUp())
-            .withTimeout(2.5),
-        Commands.parallel(
-            intake.extendToAngleAndIntake(IntakeConstants.COLLAPSE_POS),
-            orchestrator.spinUpShooterDistance(orchestrator.getHubDistance()),
-            orchestrator.feedUp()));
-  }
-
   public Command EightBalls() {
     return Commands.sequence(
         Commands.deadline(

src/main/java/frc/robot/subsystems/shooter/Shooter.java

@@ -174,7 +174,7 @@ public double getAirTimeSeconds(DoubleSupplier distance) {
   public DoubleSupplier calculateSetpoint(DoubleSupplier distance) {
     // calculate rad/s depending on distance
     return () -> {
-      double setpoint = 183.35 * distance.getAsDouble() + 750.93;
+      double setpoint = 223 * distance.getAsDouble() + 750.93;
       if (setpoint > 5000) {
         return 5000;
       } else return setpoint;