commit 07b4044f16ea2ee94a655a9dfa6fda6eac12c0fd
author James Kuszmaul <jabukuszmaul+collab@gmail.com> Sun Mar 08 22:20:21 2020 -0700
committer James Kuszmaul <jabukuszmaul+collab@gmail.com> Sun Mar 08 23:12:19 2020 -0700
tree 5afbf5566d4ec474492fb65d6a9164927fd1c780
parent a573df154b900b6618d0b46f8d2635a8dba1082f

Detune spline drivetrain

This helps with oscillations substantially.

Change-Id: Icc279a24d0460ad0006ccc19259338c0e48e0b48

y2019/control_loops/drivetrain/localizer_test.cc

diff --git a/y2019/control_loops/drivetrain/localizer_test.cc b/y2019/control_loops/drivetrain/localizer_test.cc
index 7b25ca5..e3b6398 100644
--- a/y2019/control_loops/drivetrain/localizer_test.cc
+++ b/y2019/control_loops/drivetrain/localizer_test.cc
@@ -599,7 +599,7 @@
             /*noisify=*/true,
             /*disturb=*/false,
             /*estimate_tolerance=*/0.4,
-            /*goal_tolerance=*/0.4,
+            /*goal_tolerance=*/0.8,
         }),
         // Repeats perfect scenario, but add initial estimator error.
         LocalizerTestParams({
@@ -629,7 +629,7 @@
             /*noisify=*/false,
             /*disturb=*/false,
             /*estimate_tolerance=*/1e-2,
-            /*goal_tolerance=*/2e-2,
+            /*goal_tolerance=*/3e-2,
         }),
         // Add disturbances while we are driving:
         LocalizerTestParams({