Update collision avoidance for new pi's
The pi's stick out more, make sure everything clears them.
Change-Id: I63a32362fd8ad943777b417b6d8264636d9aa650
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
diff --git a/y2022/control_loops/superstructure/collision_avoidance.h b/y2022/control_loops/superstructure/collision_avoidance.h
index 3cd5344..04b8e8a 100644
--- a/y2022/control_loops/superstructure/collision_avoidance.h
+++ b/y2022/control_loops/superstructure/collision_avoidance.h
@@ -48,7 +48,7 @@
// TODO(henry): put actual constants here.
// Reference angles between which the turret will be careful
- static constexpr double kCollisionZoneTurret = M_PI * 5.0 / 18.0;
+ static constexpr double kCollisionZoneTurret = M_PI * 7.0 / 18.0;
// For the turret, 0 rad is pointing straight forwards
static constexpr double kMinCollisionZoneFrontTurret =
@@ -61,7 +61,7 @@
static constexpr double kMaxCollisionZoneBackTurret = kCollisionZoneTurret;
// Maximum position of the intake to avoid collisions
- static constexpr double kCollisionZoneIntake = 1.4;
+ static constexpr double kCollisionZoneIntake = 1.33;
// Tolerances for the subsystems
static constexpr double kEpsTurret = 0.05;