Validated calibration edge.
diff --git a/frc971/constants.cc b/frc971/constants.cc
index 300da20..7089f5a 100755
--- a/frc971/constants.cc
+++ b/frc971/constants.cc
@@ -45,45 +45,44 @@
switch (team) {
case kCompTeamNumber:
return new Values{
- kCompDrivetrainEncoderRatio,
- kCompLowGearRatio,
- kCompHighGearRatio,
- kCompLeftDriveShifter,
- kCompRightDriveShifter,
- true,
- control_loops::MakeVClutchDrivetrainLoop,
- control_loops::MakeClutchDrivetrainLoop,
- 0.5,
- 0.1,
- 0.1,
- 0.0,
- 1.57,
-
- {0.0, 2.05, {-0.1, 0.05}, {1.0, 1.1}, {2.0, 2.1}},
- {0.0, 2.05, {-0.1, 0.05}, {1.0, 1.1}, {2.0, 2.1}},
- 0.01, // claw_unimportant_epsilon
- 0.9, // start_fine_tune_pos
+ kCompDrivetrainEncoderRatio,
+ kCompLowGearRatio,
+ kCompHighGearRatio,
+ kCompLeftDriveShifter,
+ kCompRightDriveShifter,
+ true,
+ control_loops::MakeVClutchDrivetrainLoop,
+ control_loops::MakeClutchDrivetrainLoop,
+ 0.5,
+ 0.1,
+ 0.1,
+ 0.0,
+ 1.57,
+ {0.0, 2.05, 0.02, 2.02, {-0.1, 0.05}, {1.0, 1.1}, {2.0, 2.1}},
+ {0.0, 2.05, 0.02, 2.02, {-0.1, 0.05}, {1.0, 1.1}, {2.0, 2.1}},
+ 0.01, // claw_unimportant_epsilon
+ 0.9, // start_fine_tune_pos
};
break;
case kPracticeTeamNumber:
return new Values{
- kPracticeDrivetrainEncoderRatio,
- kPracticeLowGearRatio,
- kPracticeHighGearRatio,
- kPracticeLeftDriveShifter,
- kPracticeRightDriveShifter,
- false,
- control_loops::MakeVDogDrivetrainLoop,
- control_loops::MakeDogDrivetrainLoop,
- 0.5,
- 0.2,
- 0.1,
- 0.0,
- 1.57,
- {0.0, 2.05, {-0.1, 0.05}, {1.0, 1.1}, {2.0, 2.1}},
- {0.0, 2.05, {-0.1, 0.05}, {1.0, 1.1}, {2.0, 2.1}},
- 0.01, // claw_unimportant_epsilon
- 0.9, //start_fine_tune_pos
+ kPracticeDrivetrainEncoderRatio,
+ kPracticeLowGearRatio,
+ kPracticeHighGearRatio,
+ kPracticeLeftDriveShifter,
+ kPracticeRightDriveShifter,
+ false,
+ control_loops::MakeVDogDrivetrainLoop,
+ control_loops::MakeDogDrivetrainLoop,
+ 0.5,
+ 0.2,
+ 0.1,
+ 0.0,
+ 1.57,
+ {0.0, 2.05, 0.02, 2.02, {-0.1, 0.05}, {1.0, 1.1}, {2.0, 2.1}},
+ {0.0, 2.05, 0.02, 2.02, {-0.1, 0.05}, {1.0, 1.1}, {2.0, 2.1}},
+ 0.01, // claw_unimportant_epsilon
+ 0.9, // start_fine_tune_pos
};
break;
default: