Tuning and Refinement

In your setpoint folder on the bottom you can adjust setpoints until things are at the right height.

You may however notice nothing will score since we didn't set any force on the game piece when released.

Going into PlacePiece and changing them to this fixes the issue:

Set Game Piece Force

note

l4 on fixed outtake bots is jank. It requires a VERY arbitrary back space to work. It also uses the ContinuedForce variant of release which has a time to apply force and a maximum speed at which it should apply the fixed force value.

You may find a couple bugs while doing it, we will cover the game piece inconsistencies in a moment but first:

Algae intake needs moved,

Algae Intake

Front bar was made capsule

Front Bar

PlacePiece needs to be modified to check for algae not robot mode.

Not Robot Mode

Top colliders on EE were removed

Remove Top EE Colliders

All Generic Joints needed to ignore the robot layer (drift causer)

Ignore Robot Layer

My final setpoints:

Barge prep: 20
Barge Score: 60
High Algae: 34
Intake: 0
L1: 0 (we will worry about that later)
L2: 16
L3: 32
l4 : 55.5
l4Place: 59
LowAlgae: 17
Stow: 0

To make l4 consistent we need auto-align.

Add Reefscape Auto Align to 9496 and fill it out.

Fill Out Auto Align

That helped but it's still bad. So

Set Material to Grip

Adjust Algae Pivot Collider

Select Empty Child of Stage 2

Also tell AlgaeArm to ignore coral

Exclude Coral Layer

Then the front bar as well

Update Front Bar

Auto align also doesn't settle well so

Update Drive PIDs

Now we can fix some other things

Fix Intake Setpoint

Fix Some Other Setpoints

Adjust Coral Roller

Tune Drop Strength

Adjust coral intake

Set Speed and Force

Make FunnelPivot and Game Object 2lbs