From 1e96609a3a872f048a492e08fda1317bd14b2da1 Mon Sep 17 00:00:00 2001
From: Ian Galaviz <brianatthehouse@gmail.com>
Date: Mon, 5 Jan 2026 13:14:58 -0700
Subject: [PATCH] fixed the deadline issue and also loosened the tolerances of
 auto align

---
 src/main/java/frc/robot/commands/DriveCommands.java  |  6 +++---
 .../frc/robot/commands/SuperstructureCommands.java   | 12 ++++++------
 2 files changed, 9 insertions(+), 9 deletions(-)

diff --git a/src/main/java/frc/robot/commands/DriveCommands.java b/src/main/java/frc/robot/commands/DriveCommands.java
index 9703625..4525a6c 100644
--- a/src/main/java/frc/robot/commands/DriveCommands.java
+++ b/src/main/java/frc/robot/commands/DriveCommands.java
@@ -166,9 +166,9 @@ public static Command alignToReef(Drive drive, boolean alignLeft) {
         yController.reset();
         thetaController.reset();
 
-        xController.setTolerance(Units.inchesToMeters(0.1));
-        yController.setTolerance(Units.inchesToMeters(0.1));
-        thetaController.setTolerance(Units.degreesToRadians(1));
+        xController.setTolerance(Units.inchesToMeters(0.5));
+        yController.setTolerance(Units.inchesToMeters(0.5));
+        thetaController.setTolerance(Units.degreesToRadians(2));
 
         return Commands.run(
                         () -> {
diff --git a/src/main/java/frc/robot/commands/SuperstructureCommands.java b/src/main/java/frc/robot/commands/SuperstructureCommands.java
index c098da6..8962327 100644
--- a/src/main/java/frc/robot/commands/SuperstructureCommands.java
+++ b/src/main/java/frc/robot/commands/SuperstructureCommands.java
@@ -9,42 +9,42 @@ public class SuperstructureCommands {
 
     public static Command scoreRightL4Sim(Drive drive, SwerveDriveSimulation driveSimulation) {
         return Commands.sequence(
-                Commands.deadline(Commands.waitSeconds(1), DriveCommands.alignToReef(drive, false)),
+                Commands.race(Commands.waitSeconds(1), DriveCommands.alignToReef(drive, false)),
                 Commands.waitSeconds(0.1),
                 IntakeCommands.scoreL4Sim(driveSimulation));
     }
 
     public static Command scoreLeftL4Sim(Drive drive, SwerveDriveSimulation driveSimulation) {
         return Commands.sequence(
-                Commands.deadline(Commands.waitSeconds(1), DriveCommands.alignToReef(drive, true)),
+                Commands.race(Commands.waitSeconds(1), DriveCommands.alignToReef(drive, true)),
                 Commands.waitSeconds(0.1),
                 IntakeCommands.scoreL4Sim(driveSimulation));
     }
 
     public static Command scoreRightL3Sim(Drive drive, SwerveDriveSimulation driveSimulation) {
         return Commands.sequence(
-                Commands.deadline(Commands.waitSeconds(1), DriveCommands.alignToReef(drive, false)),
+                Commands.race(Commands.waitSeconds(1), DriveCommands.alignToReef(drive, false)),
                 Commands.waitSeconds(0.1),
                 IntakeCommands.scoreL3Sim(driveSimulation));
     }
 
     public static Command scoreLeftL3Sim(Drive drive, SwerveDriveSimulation driveSimulation) {
         return Commands.sequence(
-                Commands.deadline(Commands.waitSeconds(1), DriveCommands.alignToReef(drive, true)),
+                Commands.race(Commands.waitSeconds(1), DriveCommands.alignToReef(drive, true)),
                 Commands.waitSeconds(0.1),
                 IntakeCommands.scoreL3Sim(driveSimulation));
     }
 
     public static Command scoreRightL2Sim(Drive drive, SwerveDriveSimulation driveSimulation) {
         return Commands.sequence(
-                Commands.deadline(Commands.waitSeconds(1), DriveCommands.alignToReef(drive, false)),
+                Commands.race(Commands.waitSeconds(1), DriveCommands.alignToReef(drive, false)),
                 Commands.waitSeconds(0.1),
                 IntakeCommands.scoreL2Sim(driveSimulation));
     }
 
     public static Command scoreLeftL2Sim(Drive drive, SwerveDriveSimulation driveSimulation) {
         return Commands.sequence(
-                Commands.deadline(Commands.waitSeconds(1), DriveCommands.alignToReef(drive, true)),
+                Commands.race(Commands.waitSeconds(1), DriveCommands.alignToReef(drive, true)),
                 Commands.waitSeconds(0.1),
                 IntakeCommands.scoreL2Sim(driveSimulation));
     }