commit a6fe97b69353d988ba921c02993546d763f8ddb2
author Yash Chainani <yashchainani28@gmail.com> Wed Dec 15 21:01:11 2021 -0800
committer Yash Chainani <yashchainani28@gmail.com> Thu Dec 16 16:25:53 2021 -0800
tree 7dc42818e0e83c8a8b01dd1f26a502af05ed8700
parent ea913d4db353fcf13aad6b0d3db8e9f48a08c146

Used loop delay variable instead of hardcoded value in autonomous

Signed-off-by: Yash Chainani <yashchainani28@gmail.com>
Change-Id: I4dddfa30c904848dbe9be58c024f59ab44af4c14
Signed-off-by: Yash Chainani <yashchainani28@gmail.com>

y2020/actors/autonomous_actor.cc

diff --git a/y2020/actors/autonomous_actor.cc b/y2020/actors/autonomous_actor.cc
index eb8ea42..37d1ed7 100644
--- a/y2020/actors/autonomous_actor.cc
+++ b/y2020/actors/autonomous_actor.cc
@@ -396,7 +396,7 @@
 bool AutonomousActor::WaitUntilAbsoluteBallsShot(int absolute_balls) {
   ::aos::time::PhasedLoop phased_loop(frc971::controls::kLoopFrequency,
                                       event_loop()->monotonic_now(),
-                                      frc971::controls::kLoopFrequency / 2);
+                                      ActorBase::kLoopOffset);
   superstructure_status_fetcher_.Fetch();
   CHECK(superstructure_status_fetcher_.get() != nullptr);
   int last_balls = superstructure_status_fetcher_->shooter()->balls_shot();

y2020/control_loops/drivetrain/localizer_test.cc

diff --git a/y2020/control_loops/drivetrain/localizer_test.cc b/y2020/control_loops/drivetrain/localizer_test.cc
index 18df813..cc04428 100644
--- a/y2020/control_loops/drivetrain/localizer_test.cc
+++ b/y2020/control_loops/drivetrain/localizer_test.cc
@@ -214,7 +214,7 @@
           CHECK_EQ(builder.Send(status_builder.Finish()),
                    aos::RawSender::Error::kOk);
         },
-        chrono::milliseconds(5));
+        frc971::controls::kLoopFrequency);
 
     test_event_loop_->OnRun([this]() { SetStartingPosition({3.0, 2.0, 0.0}); });