From c73434ad26b8b1dc867ee9d012c73f2625763bdc Mon Sep 17 00:00:00 2001
From: Thomas <@TOMMY>
Date: Thu, 30 Nov 2023 10:57:43 -0600
Subject: [PATCH] Claw, Gantry, and Lift

---
 TeamCode/src/main/java/opmodes/AutoBase.java                  | 3 +--
 .../java/org/firstinspires/ftc/teamcode/hardware/Camera.java  | 4 ++--
 .../org/firstinspires/ftc/teamcode/hardware/RobotConfig.java  | 4 ++--
 3 files changed, 5 insertions(+), 6 deletions(-)

diff --git a/TeamCode/src/main/java/opmodes/AutoBase.java b/TeamCode/src/main/java/opmodes/AutoBase.java
index 2dfa830..c3a7c5f 100644
--- a/TeamCode/src/main/java/opmodes/AutoBase.java
+++ b/TeamCode/src/main/java/opmodes/AutoBase.java
@@ -74,7 +74,6 @@ public abstract class AutoBase extends LinearOpMode {
                 propRight();
                 break;
         }
-
         moveToBackstage();
         prepareToScore();
         scorePreloadedPixel();
@@ -129,7 +128,7 @@ public abstract class AutoBase extends LinearOpMode {
                 delta = APRIL_TAG_RIGHT_DELTA;
                 break;
         }
-        double distance = this.robot.getCamera().getDistanceToAprilTag(2, 25, 5);
+        double distance = this.robot.getCamera().getDistanceToAprilTag(this.alliance == CenterStageCommon.Alliance.Blue ? 2:5, 25, 5);
         Vector2d target = new Vector2d(this.robot.getDrive().getPoseEstimate().getX() + (distance - SCORING_DISTANCE_FROM_APRIL_TAG), this.robot.getDrive().getPoseEstimate().getY() + delta);
         TrajectorySequenceBuilder builder = this.robot.getTrajectorySequenceBuilder();
         builder.lineToConstantHeading(target);
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/Camera.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/Camera.java
index 1c5c7bb..886eb54 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/Camera.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/Camera.java
@@ -18,8 +18,8 @@ import org.opencv.core.Point;
 
 @Config
 public class Camera {
-    public static float PROP_REJECTION_VERTICAL_UPPER = 175;
-    public static float PROP_REJECTION_VERTICAL_LOWER = 300;
+    public static float PROP_REJECTION_VERTICAL_UPPER = 250;
+    public static float PROP_REJECTION_VERTICAL_LOWER = 370;
     private PropDetectionPipeline prop;
     private AprilTagProcessor aprilTag;
     private VisionPortal visionPortal;
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/RobotConfig.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/RobotConfig.java
index da239fe..82b1dc2 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/RobotConfig.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/RobotConfig.java
@@ -66,8 +66,8 @@ public class RobotConfig {
 
     // Vision
     public static double CAMERA_OFFSET_X = 0f;
-    public static double DETECTION_AREA_MIN = 0.02f;
-    public static double DETECTION_AREA_MAX = 0.3f;
+    public static double DETECTION_AREA_MIN = 0.01f;
+    public static double DETECTION_AREA_MAX = 0.2f;
     public static double DETECTION_LEFT_X = 0;
     public static double DETECTION_CENTER_X = .5;
     public static double DETECTION_RIGHT_X = 1;