Fixed the shooter constants, a bunch of initialization bugs, and made it work without springs.
diff --git a/frc971/constants.cc b/frc971/constants.cc
index 1b33a2a..4b181eb 100755
--- a/frc971/constants.cc
+++ b/frc971/constants.cc
@@ -39,7 +39,7 @@
const ShifterHallEffect kPracticeRightDriveShifter{5, 0, 0.62,
0.55};
const double shooter_zeroing_off_speed = 0.0;
-const double shooter_zeroing_speed = 0.1;
+const double shooter_zeroing_speed = 0.05;
const Values *DoGetValues() {
uint16_t team = ::aos::network::GetTeamNumber();
@@ -121,11 +121,10 @@
control_loops::MakeDogDrivetrainLoop,
// ShooterLimits
// TODO(ben): make these real numbers
- {-0.000446, 0.300038, -0.001, 0.304354,
- 0.014436,
- {-2, 0.001786, 0.001786, -2},
- {-2, -0.000446, -2, 0.026938},
- {0.005358, 0.014436, 0.014436, 0.026491},
+ {-0.001042, 0.294084, -0.001935, 0.303460, 0.0138401,
+ {-0.002, 0.000446, -0.002, 0.000446},
+ {-0.002, 0.009078, -0.002, 0.009078},
+ {0.003869, 0.026194, 0.003869, 0.026194},
shooter_zeroing_off_speed,
shooter_zeroing_speed
},