From 5865b10d9cdb24d5d9f3bdaa1bc692095797514e Mon Sep 17 00:00:00 2001
From: Malti <maltimjohn1@gmail.com>
Date: Sat, 5 Mar 2022 08:06:15 -0500
Subject: [PATCH] SimpleA ready to test

---
 .../java/frc/robot/autonomous/BallAtoTerminalReturn.java | 2 +-
 src/main/java/frc/robot/generic/Lightning.java           | 9 ++-------
 2 files changed, 3 insertions(+), 8 deletions(-)

diff --git a/src/main/java/frc/robot/autonomous/BallAtoTerminalReturn.java b/src/main/java/frc/robot/autonomous/BallAtoTerminalReturn.java
index 064be54..878ce3e 100644
--- a/src/main/java/frc/robot/autonomous/BallAtoTerminalReturn.java
+++ b/src/main/java/frc/robot/autonomous/BallAtoTerminalReturn.java
@@ -67,7 +67,7 @@ public void autonomousPeriodic(GenericRobot robot) {
         }
         if ((autonomousStep>=4) && (autonomousStep < 10)){
             if((!robot.isTargetFound()) && (System.currentTimeMillis() - startTime < 5000)) {
-                currentTurretPower = -.2;
+                currentTurretPower = .2;
             }
         }
 
diff --git a/src/main/java/frc/robot/generic/Lightning.java b/src/main/java/frc/robot/generic/Lightning.java
index dff4606..57ba8ca 100644
--- a/src/main/java/frc/robot/generic/Lightning.java
+++ b/src/main/java/frc/robot/generic/Lightning.java
@@ -268,7 +268,7 @@ public void getCargo(){
     public void shoot(){
         double shooterRPM = defaultShooterTargetRPM;
         setShooterRPM(shooterRPM, shooterRPM);
-        if (getShooterRPMTop() >= (shooterRPM-100) && getShooterRPMBottom() >= (shooterRPM-100)){
+        if (getShooterRPMTop() >= (shooterRPM-300) && getShooterRPMBottom() >= (shooterRPM-300)){
             canShoot = true;
         }
         else{
@@ -680,12 +680,7 @@ public boolean isActivelyShooting(){
     //TODO: Add check using isReadyToShoot() function?
     @Override
     public boolean isReadyToShoot(){
-        if (Math.abs(getShooterRPMTop() -attemptedRPM) <= 300){
-            return true;
-        }
-        else{
-            return false;
-        }
+        return true;
     }
 
     @Override