commit e7f90d1502a64fb6c06e467e62271f90b7169e54
author Austin Schuh <austin@peloton-tech.com> Mon Feb 17 00:48:25 2014 -0800
committer Austin Schuh <austin@peloton-tech.com> Mon Feb 17 01:01:44 2014 -0800
tree 43df137a0f948a8eeaef0bf3b2ecd1577dcb30cc
parent 2bc5462e6d12b4d8bcb9894d53419c47deb74495

Claw avoids windup.

frc971/constants.cc

diff --git a/frc971/constants.cc b/frc971/constants.cc
index 672d5ef..39f92d2 100755
--- a/frc971/constants.cc
+++ b/frc971/constants.cc
@@ -108,8 +108,9 @@
            0.1,
            0.0,
            1.57,
-           {0.0, 2.05, 0.02, 2.02, {-0.1, 0.05}, {1.0, 1.1}, {2.0, 2.1}},
-           {0.0, 2.05, 0.02, 2.02, {-0.1, 0.05}, {1.0, 1.1}, {2.0, 2.1}},
+           // TODO(austin): Radians...
+           {-196.70, 121.42, 0.02, 2.02, {-196.92, -180.99}, {-15.17, -3.30}, {106.26, 129.55}},
+           {-142.96, 179.45, 0.02, 2.02, {-147.01, -127.93}, {-17.84, -5.39}, {167.75, 192.25}},
            0.01,  // claw_unimportant_epsilon
            0.9,  // start_fine_tune_pos
            4.0,