Tune up the catapult state machine to work
This now holds the ball in the intake, and will transfer it when the
turret is in position.
Change-Id: I2e9aa11cae014b56679edaeb9f71a7c32664094c
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
Signed-off-by: Milind Upadhyay <milind.upadhyay@gmail.com>
diff --git a/y2022/control_loops/superstructure/superstructure.h b/y2022/control_loops/superstructure/superstructure.h
index 13a790a..03afaf9 100644
--- a/y2022/control_loops/superstructure/superstructure.h
+++ b/y2022/control_loops/superstructure/superstructure.h
@@ -30,8 +30,8 @@
::frc971::zeroing::PotAndAbsoluteEncoderZeroingEstimator,
::frc971::control_loops::PotAndAbsoluteEncoderProfiledJointStatus>;
- static constexpr double kTurretGoalThreshold = 0.01;
- static constexpr double kCatapultGoalThreshold = 0.01;
+ static constexpr double kTurretGoalThreshold = 0.05;
+ static constexpr double kCatapultGoalThreshold = 0.05;
// potentiometer will be more noisy
static constexpr double kFlipperGoalThreshold = 0.05;