pose, logger, and barge shot tweaks

src/main/deploy/pathplanner/autos/1 L4 Center.auto

@@ -27,6 +27,12 @@
           "data": {
             "pathName": "H Backup"
           }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "HP Pickup"
+          }
         }
       ]
     }

src/main/deploy/pathplanner/autos/1L4 + Algae Center.auto

@@ -0,0 +1,55 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Start to H"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Shoot Coral L4"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "H Backup"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Pickup Algae L2"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "HG Algae"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "HG to Barge"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Shoot Algae"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}

src/main/deploy/pathplanner/paths/H Backup.path

@@ -3,29 +3,29 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 5.7,
+        "x": 5.758260140458621,
-        "y": 4.3
+        "y": 4.193633481772718
       },
       "prevControl": null,
       "nextControl": {
-        "x": 6.053790983606557,
+        "x": 6.112051124065178,
-        "y": 4.312704918032787
+        "y": 4.206338399805505
       },
       "isLocked": false,
       "linkedName": "H"
     },
     {
       "anchor": {
-        "x": 6.389446721311475,
+        "x": 6.5,
-        "y": 4.3
+        "y": 4.021985060730393
       },
       "prevControl": {
-        "x": 6.1394487099079695,
+        "x": 6.250001988596495,
-        "y": 4.300997143065429
+        "y": 4.022982203795822
       },
       "nextControl": null,
       "isLocked": false,
-      "linkedName": null
+      "linkedName": "Behind HG Face"
     }
   ],
   "rotationTargets": [],
@@ -34,7 +34,7 @@
   "eventMarkers": [],
   "globalConstraints": {
     "maxVelocity": 3.5,
-    "maxAcceleration": 1.75,
+    "maxAcceleration": 0.75,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 400.0,
     "nominalVoltage": 12.0,
@@ -45,10 +45,10 @@
     "rotation": 180.0
   },
   "reversed": false,
-  "folder": null,
+  "folder": "Center",
   "idealStartingState": {
     "velocity": 0,
     "rotation": 180.0
   },
-  "useDefaultConstraints": true
+  "useDefaultConstraints": false
 }

src/main/deploy/pathplanner/paths/HG Algae.path

@@ -3,29 +3,29 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 8.786987704919465,
+        "x": 6.5,
-        "y": 4.348668032784689
+        "y": 4.021985060730393
       },
       "prevControl": null,
       "nextControl": {
-        "x": 9.786987704919456,
+        "x": 6.224227344787433,
-        "y": 4.348668032784689
+        "y": 4.009974315068493
       },
       "isLocked": false,
-      "linkedName": null
+      "linkedName": "Behind HG Face"
     },
     {
       "anchor": {
-        "x": 11.256454918034219,
+        "x": 5.872671261177789,
-        "y": 4.348668032784689
+        "y": 4.021985060730393
       },
       "prevControl": {
-        "x": 7.543546317006037,
+        "x": 6.125859753477119,
-        "y": 6.492316813064786
+        "y": 4.004837296105254
       },
       "nextControl": null,
       "isLocked": false,
-      "linkedName": null
+      "linkedName": "HG Algae"
     }
   ],
   "rotationTargets": [],
@@ -42,13 +42,13 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": 0.0
+    "rotation": 180.0
   },
   "reversed": false,
-  "folder": null,
+  "folder": "Center",
   "idealStartingState": {
     "velocity": 0,
-    "rotation": 124.695153531234
+    "rotation": 180.0
   },
   "useDefaultConstraints": true
 }

src/main/deploy/pathplanner/paths/HG to Barge.path

@@ -0,0 +1,71 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 5.872671261177789,
+        "y": 4.021985060730393
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 7.829105562465259,
+        "y": 3.8676166530198106
+      },
+      "isLocked": false,
+      "linkedName": "HG Algae"
+    },
+    {
+      "anchor": {
+        "x": 7.032020547945206,
+        "y": 4.761258561643835
+      },
+      "prevControl": {
+        "x": 7.262336691900294,
+        "y": 4.359747737103425
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": "Pre-Barge"
+    }
+  ],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 0.17234468937875755,
+      "rotationDegrees": 180.0
+    }
+  ],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [
+    {
+      "name": "Processor Position",
+      "waypointRelativePos": 0.188095238095238,
+      "endWaypointRelativePos": null,
+      "command": {
+        "type": "named",
+        "data": {
+          "name": "Processor Position"
+        }
+      }
+    }
+  ],
+  "globalConstraints": {
+    "maxVelocity": 3.5,
+    "maxAcceleration": 1.75,
+    "maxAngularVelocity": 360.0,
+    "maxAngularAcceleration": 300.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "reversed": false,
+  "folder": "Center",
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 180.0
+  },
+  "useDefaultConstraints": false
+}

src/main/deploy/pathplanner/paths/HP to K.path

@@ -46,7 +46,7 @@
   ],
   "globalConstraints": {
     "maxVelocity": 3.5,
-    "maxAcceleration": 1.75,
+    "maxAcceleration": 1.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 400.0,
     "nominalVoltage": 12.0,
@@ -62,5 +62,5 @@
     "velocity": 0,
     "rotation": -53.97262661489646
   },
-  "useDefaultConstraints": true
+  "useDefaultConstraints": false
 }

src/main/deploy/pathplanner/paths/Start to H.path

@@ -16,12 +16,12 @@
     },
     {
       "anchor": {
-        "x": 5.7,
+        "x": 5.758260140458621,
-        "y": 4.3
+        "y": 4.193633481772718
       },
       "prevControl": {
-        "x": 6.347336065573771,
+        "x": 6.405596206032391,
-        "y": 4.2640368852459005
+        "y": 4.157670367018619
       },
       "nextControl": null,
       "isLocked": false,
@@ -31,10 +31,22 @@
   "rotationTargets": [],
   "constraintZones": [],
   "pointTowardsZones": [],
-  "eventMarkers": [],
+  "eventMarkers": [
+    {
+      "name": "Lift L4",
+      "waypointRelativePos": 0.10238095238095252,
+      "endWaypointRelativePos": null,
+      "command": {
+        "type": "named",
+        "data": {
+          "name": "Lift L4"
+        }
+      }
+    }
+  ],
   "globalConstraints": {
     "maxVelocity": 3.5,
-    "maxAcceleration": 1.75,
+    "maxAcceleration": 1.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 400.0,
     "nominalVoltage": 12.0,
@@ -45,10 +57,10 @@
     "rotation": 180.0
   },
   "reversed": false,
-  "folder": null,
+  "folder": "Center",
   "idealStartingState": {
     "velocity": 0,
     "rotation": 180.0
   },
-  "useDefaultConstraints": true
+  "useDefaultConstraints": false
 }

src/main/deploy/pathplanner/settings.json

@@ -3,7 +3,8 @@
   "robotLength": 0.8763,
   "holonomicMode": true,
   "pathFolders": [
-    "Left Paths"
+    "Left Paths",
+    "Center"
   ],
   "autoFolders": [],
   "defaultMaxVel": 3.5,

src/main/java/frc/robot/RobotContainer.java

@@ -351,6 +351,18 @@ public class RobotContainer {
 				ManipulatorPivotConstants.kStartingPosition
 			)
 		);
+
+		NamedCommands.registerCommand(
+			"Shoot Algae",
+			shootAlgae()
+		);
+
+		NamedCommands.registerCommand(
+			"Processor Position", 
+			moveWithAlgae(ElevatorConstants.kProcessorPosition, ManipulatorPivotConstants.kProcessorPosition)
+			.alongWith(manipulator.runManipulator(() -> 0.85, false))
+			.until(() -> driver.a().getAsBoolean())
+		);
 	}
 
 	//creates tabs and transforms them on the shuffleboard
@@ -607,10 +619,10 @@ public class RobotContainer {
 	}
 
 	private Command shootAlgae(){
-		return manipulatorPivot.goToSetpoint(() -> ManipulatorPivotConstants.kBargeShotPosition)
+		return manipulatorPivot.goToSetpointAlgae(() -> ManipulatorPivotConstants.kBargeShotPosition)
-		.andThen(elevator.goToSetpoint(() -> ElevatorConstants.kL4Position), manipulatorPivot.goToSetpoint(() -> ManipulatorPivotConstants.kBargeShotPosition)
+		.andThen(elevator.goToSetpoint(() -> ElevatorConstants.kL4Position), manipulatorPivot.goToSetpointAlgae(() -> ManipulatorPivotConstants.kBargeShotPosition)
 		.raceWith(elevator.maintainPosition())).until(() -> elevator.getEncoderPosition()>43/* 44*/).andThen(manipulator.runManipulator(() -> -1, false),
-		elevator.goToSetpoint(() -> ElevatorConstants.kL4Position), manipulatorPivot.goToSetpoint(() -> ManipulatorPivotConstants.kBargeShotPosition)
+		elevator.goToSetpoint(() -> ElevatorConstants.kL4Position), manipulatorPivot.goToSetpointAlgae(() -> ManipulatorPivotConstants.kBargeShotPosition)
 		.raceWith(elevator.maintainPosition()));
 	}
 

src/main/java/frc/robot/constants/ManipulatorPivotConstants.java

@@ -23,7 +23,9 @@ public class ManipulatorPivotConstants {
     public static final double kPositionalP = 4.5;
     public static final double kPositionalI = 0;
     public static final double kPositionalD = 0;
-    public static final double kPositionalTolerance = Units.degreesToRadians(1.5);
+    public static final double kPositionalTolerance = Units.degreesToRadians(3);
+
+    public static final double kAlgaeP = 7;
 
     public static final double kFeedForwardS = (0.3-0.19) / 2 * 0.8; //upper: 0.3 lower: 0.19
     public static final double kFeedForwardG = (0.3+0.19) / 2; // calculated value 0.41

src/main/java/frc/robot/constants/VisionConstants.java

@@ -85,6 +85,6 @@ public class VisionConstants {
         {5.322, 2.511}//22
     };
 
-    public static final double latencyFudge = 0.0;
+    public static final double latencyFudge = 0.03;
 
 }

src/main/java/frc/robot/subsystems/Drivetrain.java

@@ -111,8 +111,8 @@ public class Drivetrain extends SubsystemBase {
                 m_rearRight.getPosition()
             },
             new Pose2d(),
-            VecBuilder.fill(0.1, 0.1, Units.degreesToRadians(5)),
+            VecBuilder.fill(0.07, 0.7, Units.degreesToRadians(0.5)),
-            VecBuilder.fill(1, 1, Units.degreesToRadians(360))
+            VecBuilder.fill(1, 1, Units.degreesToRadians(4000))
         );
 
         pidHeading = new ProfiledPIDController(AutoConstants.kAlignPThetaController, 0, 0, AutoConstants.kAlignThetaControllerConstraints);
@@ -177,17 +177,17 @@ public class Drivetrain extends SubsystemBase {
 
         gyroBuffer.addSample(Timer.getFPGATimestamp(), m_estimator.getEstimatedPosition().getRotation().getDegrees());
 
-        m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.40, 0.40, Units.degreesToRadians(360)));
+        m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.40, 0.40, Units.degreesToRadians(4000)));
 
         if(vision.getOrangeTagDetected() && vision.getOrangeTagDetected()){
             if(vision.getOrangeDist() < 60 && Math.abs(getVelocity()) < 3){
-                m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.025, 0.025, Units.degreesToRadians(360)));
+                m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.02, 0.02, Units.degreesToRadians(4000)));
             }else if(vision.getOrangeDist() < 100 && Math.abs(getVelocity()) < 3){
-                m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.05, 0.05, Units.degreesToRadians(360)));
+                m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.05, 0.05, Units.degreesToRadians(4000)));
             }else if(vision.getOrangeDist() < 60 && Math.abs(getVelocity()) > 3){
-                m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.2, 0.2, Units.degreesToRadians(360)));
+                m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.2, 0.2, Units.degreesToRadians(4000)));
             }else if(vision.getOrangeDist() < 100 && Math.abs(getVelocity()) > 3){
-                m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.3, 0.3, Units.degreesToRadians(360)));
+                m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.3, 0.3, Units.degreesToRadians(4000)));
             }
 
             // if the detected tags match your alliances reef tags use their pose estimates  
@@ -203,17 +203,18 @@ public class Drivetrain extends SubsystemBase {
         Logger.recordOutput("orange pose", new Pose3d(orangePose2d));
         Logger.recordOutput("orange dist", vision.getOrangeDist());
         Logger.recordOutput("orange detected", vision.getOrangeTagDetected());
+        Logger.recordOutput("orange tag", vision.getOrangeTagDetected());
 
 
         if(vision.getBlackTagDetected() && vision.getBlackTagDetected()){
             if(vision.getBlackDist() < 60 && Math.abs(getVelocity()) < 3){
-                m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.025, 0.025, Units.degreesToRadians(360)));
+                m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.02, 0.02, Units.degreesToRadians(4000)));
             }else if(vision.getBlackDist() < 100 && Math.abs(getVelocity()) < 3){
-                m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.05, 0.05, Units.degreesToRadians(360)));
+                m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.05, 0.05, Units.degreesToRadians(4000)));
             }else if(vision.getBlackDist() < 60 && Math.abs(getVelocity()) > 3){
-                m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.2, 0.2, Units.degreesToRadians(360)));
+                m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.2, 0.2, Units.degreesToRadians(4000)));
             }else if(vision.getBlackDist() < 100 && Math.abs(getVelocity()) > 3){
-                m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.3, 0.3, Units.degreesToRadians(360)));
+                m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.3, 0.3, Units.degreesToRadians(4000)));
             }
 
             if(vision.getBlackClosestTag() >= 6 && vision.getBlackClosestTag() <= 11 && DriverStation.getAlliance().get().equals(Alliance.Red) && vision.getBlackTagDetected()){
@@ -227,9 +228,11 @@ public class Drivetrain extends SubsystemBase {
         }
         Logger.recordOutput("black pose", new Pose3d(blackPose2d));
         Logger.recordOutput("black dist", vision.getBlackDist());
-        Logger.recordOutput("orange detected", vision.getBlackTagDetected());
+        Logger.recordOutput("black detected", vision.getBlackTagDetected());
+        Logger.recordOutput("black tag", vision.getBlackTagDetected());
 
         Logger.recordOutput("drive velocity", getVelocity());
+        Logger.recordOutput("closest tag", getClosestTag());
         Logger.recordOutput("robot pose", new Pose3d(m_estimator.getEstimatedPosition()));
         
         if(musicTimer.get()>10){

src/main/java/frc/robot/subsystems/Elevator.java

@@ -2,6 +2,8 @@ package frc.robot.subsystems;
 
 import java.util.function.DoubleSupplier;
 
+import org.littletonrobotics.junction.Logger;
+
 import com.revrobotics.RelativeEncoder;
 import com.revrobotics.spark.SparkMax;
 import com.revrobotics.spark.SparkBase.PersistMode;
@@ -94,6 +96,10 @@ public class Elevator extends SubsystemBase {
         if (!getBottomLimitSwitch()) {
             encoder.setPosition(0);
         }
+
+        Logger.recordOutput("elevator position", getEncoderPosition());
+        Logger.recordOutput("elevator up setpoint", pidControllerUp.getSetpoint());
+        Logger.recordOutput("elevator down setpoint", pidControllerDown.getSetpoint());
     }
 
     /**
@@ -245,51 +251,8 @@ public class Elevator extends SubsystemBase {
                 
                 }).until(() -> pidControllerUp.atSetpoint() || pidControllerDown.atSetpoint());
         }
-        
-            
-            /*
-            elevatorMotor1.setVoltage(
-                pidController.calculate(
-                    encoder.getPosition(),
-                    clampedSetpoint
-                ) + feedForward.calculate(0)
-            );
-*/
-            /* 
-            if (!pidController.atSetpoint()) {
-                elevatorMotor1.setVoltage(
-                    pidController.calculate(
-                        encoder.getPosition(),
-                        clampedSetpoint
-                    ) + feedForward.calculate(0)
-                );
-            } else {
-                elevatorMotor1.setVoltage(
-                    feedForward.calculate(0)
-                );
-            }
-             
-        });*/
     }          
 
-            /* 
-            if(encoder.getPosition() >= setpoint.getAsDouble()){
-                elevatorMotor1.setVoltage(
-                    pidControllerUp.calculate(
-                        encoder.getPosition(),
-                        clampedSetpoint
-                    ) + feedForward.calculate(pidControllerUp.getSetpoint().velocity)
-                );
-            }else if(encoder.getPosition() <= setpoint.getAsDouble()){
-                elevatorMotor1.setVoltage(
-                    pidControllerDown.calculate(
-                        encoder.getPosition(),
-                        clampedSetpoint
-                    ) + feedForward.calculate(pidControllerDown.getSetpoint().velocity)
-                );
-            }
-                */
-
     /**
      * Returns the current encoder position
      * 

src/main/java/frc/robot/subsystems/Manipulator.java

@@ -2,6 +2,8 @@ package frc.robot.subsystems;
 
 import java.util.function.DoubleSupplier;
 
+import org.littletonrobotics.junction.Logger;
+
 import com.revrobotics.spark.SparkMax;
 import com.revrobotics.spark.SparkBase.PersistMode;
 import com.revrobotics.spark.SparkBase.ResetMode;
@@ -46,6 +48,13 @@ public class Manipulator extends SubsystemBase {
         coralBeamBreak = new DigitalInput(ManipulatorConstants.kCoralBeamBreakID);
     }
 
+    @Override
+    public void periodic() {
+        super.periodic();
+
+        Logger.recordOutput("coral beam break", getCoralBeamBreak());
+    }
+
     /**
      * The default command for the manipulator that either stops the manipulator or slowly 
      * runs the manipulator to retain the algae

src/main/java/frc/robot/subsystems/ManipulatorPivot.java

@@ -4,6 +4,8 @@ import com.revrobotics.spark.SparkMax;
 
 import java.util.function.DoubleSupplier;
 
+import org.littletonrobotics.junction.Logger;
+
 import com.revrobotics.spark.SparkAbsoluteEncoder;
 import com.revrobotics.spark.SparkBase.PersistMode;
 import com.revrobotics.spark.SparkBase.ResetMode;
@@ -25,6 +27,8 @@ public class ManipulatorPivot extends SubsystemBase {
 
     private PIDController pidController;
 
+    private PIDController algaePIDController;
+
     public ManipulatorPivot() {
         pivotMotor = new SparkMax(
             ManipulatorPivotConstants.kPivotMotorID, 
@@ -44,10 +48,22 @@ public class ManipulatorPivot extends SubsystemBase {
             ManipulatorPivotConstants.kPositionalI, 
             ManipulatorPivotConstants.kPositionalD
         );
+        pidController.setTolerance(ManipulatorPivotConstants.kPositionalTolerance);
+
         pidController.setSetpoint(0);
 
         pidController.enableContinuousInput(0, 280);
         
+        algaePIDController = new PIDController(
+            ManipulatorPivotConstants.kAlgaeP,
+            0,
+            0);
+        algaePIDController.setTolerance(ManipulatorPivotConstants.kPositionalTolerance);
+        
+        algaePIDController.setSetpoint(0);
+
+        algaePIDController.enableContinuousInput(0, 280);
+
         feedForward = new ArmFeedforward(
             ManipulatorPivotConstants.kFeedForwardS,
             ManipulatorPivotConstants.kFeedForwardG, 
@@ -55,6 +71,14 @@ public class ManipulatorPivot extends SubsystemBase {
             );
     }
 
+    @Override
+    public void periodic() {
+        super.periodic();
+
+        Logger.recordOutput("manipulator position", getEncoderPosition());
+        Logger.recordOutput("manipulator setpoint", pidController.getSetpoint());
+    }
+
     /**
      * Returns whether or not the motion is safe relative to the encoder's current position
      * and the arm safe stow position
@@ -125,6 +149,38 @@ public class ManipulatorPivot extends SubsystemBase {
             }).until(() -> pidController.atSetpoint());
     }
 
+    public Command goToSetpointAlgae(DoubleSupplier setpoint) {
+        return startRun(() -> {
+            
+            algaePIDController.setSetpoint(setpoint.getAsDouble());
+            algaePIDController.reset();
+            pidController.setSetpoint(setpoint.getAsDouble());
+            pidController.reset();
+            }, 
+            () -> {
+                /* 
+                if (!pidController.atSetpoint()) {
+                    pivotMotor.setVoltage(
+                        pidController.calculate(
+                            encoder.getPosition(),
+                            setpoint.getAsDouble()
+                        ) - feedForward.calculate(-encoder.getPosition() + ManipulatorPivotConstants.kFFGravityOffset, 0)
+                    );
+                } else {
+                    pivotMotor.setVoltage(
+                        -feedForward.calculate(-encoder.getPosition() + ManipulatorPivotConstants.kFFGravityOffset, 0)
+                    );
+                }
+                    */
+                pivotMotor.setVoltage(
+                    algaePIDController.calculate(
+                        encoder.getPosition(),
+                        setpoint.getAsDouble()
+                    ) - feedForward.calculate(-encoder.getPosition() + ManipulatorPivotConstants.kFFGravityOffset, 0)
+                );
+            }).until(() -> algaePIDController.atSetpoint());
+    }
+
     public Command maintainPosition() {
         return startRun(() -> {
             

src/main/java/frc/robot/subsystems/Vision.java

@@ -177,11 +177,11 @@ public class Vision{
     }
 
     public boolean isBlackConnected(){
-        return Timer.getFPGATimestamp()-black_tx.getLastChange() > 2.0;
+        return Timer.getFPGATimestamp()-blackFramerate.getLastChange() > 3.0;
     }
 
     public boolean isOrangeConnected(){
-        return Timer.getFPGATimestamp()-orange_tx.getLastChange() > 2.0;
+        return Timer.getFPGATimestamp()-orangeFramerate.getLastChange() > 3.0;
     }
     
 }