Austin update the closed dt loop to keep valid estimates of velocity. we then use these in shoot action to set an offset in claw angle for shooting at velocity.
diff --git a/frc971/constants.h b/frc971/constants.h
index 7d06a70..775ee10 100755
--- a/frc971/constants.h
+++ b/frc971/constants.h
@@ -112,6 +112,8 @@
double claw_separation_goal;
};
ShooterAction shooter_action;
+ double drivetrain_done_distance;
+ double drivetrain_max_speed;
};
// Creates (once) a Values instance and returns a reference to it.