commit 42d7e5f982c100b05bf79dccb52d5cef7536c06f
author Austin Schuh <austin.linux@gmail.com> Wed Mar 16 23:35:09 2022 -0700
committer Austin Schuh <austin.linux@gmail.com> Sun Mar 27 13:23:38 2022 -0700
tree 497ec5ad553a4ea7be67a1e706b44daab2d127d0
parent 444f85a916656925ed91fbf91aed09118bd49ebc

Tune auto to make 5 balls for real

Change-Id: Iebfcb29259a27f2cf6c6fcbc794c022972228212
Signed-off-by: Austin Schuh <austin.linux@gmail.com>

y2022/constants.h

diff --git a/y2022/constants.h b/y2022/constants.h
index 35ca0ae..610ddc0 100644
--- a/y2022/constants.h
+++ b/y2022/constants.h
@@ -114,13 +114,13 @@
   static constexpr ::frc971::constants::Range kTurretRange() {
     return ::frc971::constants::Range{
         .lower_hard = -7.0,  // Back Hard
-        .upper_hard = 4.0,   // Front Hard
+        .upper_hard = 3.0,   // Front Hard
         .lower = -6.5,       // Back Soft
-        .upper = 3.25        // Front Soft
+        .upper = 2.5         // Front Soft
     };
   }
 
-  static constexpr double kTurretBackIntakePos() { return M_PI; }
+  static constexpr double kTurretBackIntakePos() { return -M_PI; }
   static constexpr double kTurretFrontIntakePos() { return 0; }
 
   static constexpr double kTurretPotRatio() { return 27.0 / 110.0; }