fixed claw separation limiting
diff --git a/frc971/constants.cc b/frc971/constants.cc
index 7052338..6057756 100755
--- a/frc971/constants.cc
+++ b/frc971/constants.cc
@@ -146,7 +146,7 @@
0.200000 * 2.0,
0.000000 * 2.0,
-0.762218 * 2.0,
- 0.912207 * 2.0,
+ 1.767146,
-0.849484,
1.42308,
{-3.364758, 2.086668, -3.166136, 1.95,
diff --git a/frc971/control_loops/claw/claw.cc b/frc971/control_loops/claw/claw.cc
index 59b830f..6538a26 100644
--- a/frc971/control_loops/claw/claw.cc
+++ b/frc971/control_loops/claw/claw.cc
@@ -531,14 +531,14 @@
// first update position based on angle limit
const double separation = *top_goal - *bottom_goal;
- if (separation > values.claw.claw_max_separation) {
- const double dsep = (separation - values.claw.claw_max_separation) / 2.0;
+ if (separation > values.claw.soft_max_separation) {
+ const double dsep = (separation - values.claw.soft_max_separation) / 2.0;
*bottom_goal += dsep;
*top_goal -= dsep;
LOG(DEBUG, "Goals now bottom: %f, top: %f\n", *bottom_goal, *top_goal);
}
- if (separation < values.claw.claw_min_separation) {
- const double dsep = (separation - values.claw.claw_min_separation) / 2.0;
+ if (separation < values.claw.soft_min_separation) {
+ const double dsep = (separation - values.claw.soft_min_separation) / 2.0;
*bottom_goal += dsep;
*top_goal -= dsep;
LOG(DEBUG, "Goals now bottom: %f, top: %f\n", *bottom_goal, *top_goal);