Mid run changes

ncsurobotics · Aug 11, 2024 · b0521a1 · b0521a1
1 parent f89c927
commit b0521a1
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Showing 2 changed files with 9 additions and 9 deletions.
diff --git a/src/missions/gate.rs b/src/missions/gate.rs
@@ -127,13 +127,13 @@ pub fn adjust_logic<
         ActionChain::new(
             TupleSecond::new(ActionConcurrent::new(
                 ActionDataConditional::new(
-                    act_nest!(
-                        wrap_action(ActionConcurrent::new, FirstValid::new),
-                        DetectTarget::<Target, YoloClass<Target>, Offset2D<f64>>::new(Target::Blue),
-                        DetectTarget::<Target, YoloClass<Target>, Offset2D<f64>>::new(
-                            Target::Middle
-                        ),
-                    ),
+                    //act_nest!(
+                    //wrap_action(ActionConcurrent::new, FirstValid::new),
+                    DetectTarget::<Target, YoloClass<Target>, Offset2D<f64>>::new(Target::Blue),
+                    //DetectTarget::<Target, YoloClass<Target>, Offset2D<f64>>::new(
+                    //Target::Middle
+                    //),
+                    //),
                     ActionSequence::new(SetSideBlue::new(), Terminal::new()),
                     ActionDataConditional::new(
                         DetectTarget::<Target, YoloClass<Target>, Offset2D<f64>>::new(Target::Red),

diff --git a/src/missions/octagon.rs b/src/missions/octagon.rs
@@ -76,9 +76,9 @@ pub fn octagon<
     const FALSE_COUNT: u32 = 3;
     const ADJUST_COUNT: u32 = 2;
 
-    const OCTAGON_SPIN: f32 = 60.0 * POOL_YAW_SIGN;
+    const OCTAGON_SPIN: f32 = 50.0 * POOL_YAW_SIGN;
 
-    const MISSION_END_TIME: f32 = ((INIT_TIME + BLIND_TIME) * 2.0) + 13.0;
+    const MISSION_END_TIME: f32 = ((INIT_TIME + BLIND_TIME) * 2.0) + 13.0 + 6.0;
 
     RaceAction::new(
         act_nest!(