Fixed the shooter constants, a bunch of initialization bugs, and made it work without springs.
diff --git a/frc971/control_loops/shooter/shooter.h b/frc971/control_loops/shooter/shooter.h
index 322a556..195894b 100755
--- a/frc971/control_loops/shooter/shooter.h
+++ b/frc971/control_loops/shooter/shooter.h
@@ -107,6 +107,13 @@
bool capped_goal_;
};
+const Time kUnloadTimeout = Time::InSeconds(10);
+const Time kLoadTimeout = Time::InSeconds(10);
+const Time kLoadProblemEndTimeout = Time::InSeconds(0.5);
+const Time kShooterBrakeSetTime = Time::InSeconds(0.05);
+const Time kShotEndTimeout = Time::InSeconds(1.0);
+const Time kPrepareFireEndTime = Time::InMS(40);
+
class ShooterMotor
: public aos::control_loops::ControlLoop<control_loops::ShooterGroup> {
public:
@@ -150,12 +157,12 @@
// Enter state STATE_UNLOAD
void Unload() {
state_ = STATE_UNLOAD;
- unload_timeout_ = Time::Now() + Time::InSeconds(1);
+ unload_timeout_ = Time::Now() + kUnloadTimeout;
}
// Enter state STATE_LOAD
void Load() {
state_ = STATE_LOAD;
- load_timeout_ = Time::Now() + Time::InSeconds(1);
+ load_timeout_ = Time::Now() + kLoadTimeout;
}
control_loops::ShooterGroup::Position last_position_;