tweaks to auto to make it more reliable
diff --git a/frc971/autonomous/auto.cc b/frc971/autonomous/auto.cc
index 31d6dab..9b51b63 100644
--- a/frc971/autonomous/auto.cc
+++ b/frc971/autonomous/auto.cc
@@ -121,7 +121,7 @@
void PositionClawForShot() {
// Turn the claw on, keep it straight up until the ball has been grabbed.
if (!control_loops::claw_queue_group.goal.MakeWithBuilder()
- .bottom_angle(0.85)
+ .bottom_angle(0.87)
.separation_angle(0.10)
.intake(4.0)
.centering(1.0)
@@ -270,7 +270,7 @@
{
LOG(INFO, "Driving back\n");
auto drivetrain_action = SetDriveGoal(-(kShootDistance + kPickupDistance));
- time::SleepFor(time::Time::InSeconds(0.3));
+ time::SleepFor(time::Time::InSeconds(0.7));
if (ShouldExitAuto()) return;
PositionClawForShot();
LOG(INFO, "Waiting until drivetrain is finished\n");