| commit | 7f1a4080808cb3efce1005b16ca3ae549c65af9f | [log] [tgz] |
|---|---|---|
| author | James Kuszmaul <jabukuszmaul@gmail.com> | Sun Apr 14 10:50:44 2019 -0700 |
| committer | James Kuszmaul <jabukuszmaul@gmail.com> | Sun Apr 14 13:45:23 2019 -0700 |
| tree | 77a96431e8206516fe9d845a49245bac4063a8b5 | |
| parent | 137388681ceba2c0203dd6ddb502f5e43c1f4fd0 [diff] [blame] |
Tuning constants from drive practice Change-Id: I8a820317b693358326bb91a9df3051f481bc68b4
diff --git a/frc971/control_loops/drivetrain/drivetrain.cc b/frc971/control_loops/drivetrain/drivetrain.cc index dd6b05c..4e13a40 100644 --- a/frc971/control_loops/drivetrain/drivetrain.cc +++ b/frc971/control_loops/drivetrain/drivetrain.cc
@@ -331,7 +331,7 @@ status->x = localizer_->x(); status->y = localizer_->y(); - status->theta = localizer_->theta(); + status->theta = ::aos::math::NormalizeAngle(localizer_->theta()); status->ground_angle = down_estimator_.X_hat(0) + dt_config_.down_offset;