Update LauncherManager.cpp

FRC830 · Mar 3, 2024 · f2e33a5 · f2e33a5
1 parent 213d1ff
commit f2e33a5
Showing 1 changed file with 2 additions and 11 deletions.
diff --git a/src/main/cpp/subsystems/subsystemManagers/LauncherManager.cpp b/src/main/cpp/subsystems/subsystemManagers/LauncherManager.cpp
@@ -14,7 +14,6 @@ void LauncherManager::ResetLauncher()
     m_goToSubPos = false;
     m_visionResetProfiledMoveState = false;
 }
-#include <iostream>
 void LauncherManager::HandleInput(LauncherInput &launcherInput, LauncherOutput &launcherOutput, IntakeInput &intakeInput, IntakeOutput &intakeOutput)
 {
 
@@ -28,7 +27,6 @@ void LauncherManager::HandleInput(LauncherInput &launcherInput, LauncherOutput &
             m_goToSubPos = false;
         }
 
-        std::cout << "setting to " << launcherInput.visionAngleSetpoint << ", " << launcherInput.visionSpeedSetpoint << std::endl;
         m_launcher.SetFlywheelSpeed(launcherInput.visionSpeedSetpoint);
         m_launcher.ProfiledMoveToAngle(launcherInput.visionAngleSetpoint);
     }
@@ -76,15 +74,8 @@ void LauncherManager::HandleInput(LauncherInput &launcherInput, LauncherOutput &
 
     if (launcherInput.runIndexerForward && !launcherInput.runIndexerBackward)
     {
-        if (std::fabs(m_launcher.GetAngle() - STOW_ANGLE) <= 0.5 || m_goToStowPos)
-        {
-            m_launcher.SetIndexerSpeed(INDEXER_SPEED);
-        }
-        else
-
-        {
-            m_launcher.SetIndexerSpeed(0.5);
-        }
+
+        m_launcher.SetIndexerSpeed(INDEXER_SPEED);
     } 
     else if (launcherInput.runIndexerBackward && !launcherInput.runIndexerForward) 
     {