Speed lift up.
Comp was struggling due to friction. Now that that's fixed, we can go
faster again.
Change-Id: Ic1a330bc388de93236b5e6b137b2cf49bb386856
diff --git a/y2019/constants.cc b/y2019/constants.cc
index 91510f8..e2d54b3 100644
--- a/y2019/constants.cc
+++ b/y2019/constants.cc
@@ -110,7 +110,7 @@
stilts_params->zeroing_voltage = 3.0;
stilts_params->operating_voltage = 12.0;
stilts_params->zeroing_profile_params = {0.1, 0.5};
- stilts_params->default_profile_params = {0.1, 0.5};
+ stilts_params->default_profile_params = {0.15, 0.5};
stilts_params->range = Values::kStiltsRange();
stilts_params->make_integral_loop =
&control_loops::superstructure::stilts::MakeIntegralStiltsLoop;
diff --git a/y2019/joystick_reader.cc b/y2019/joystick_reader.cc
index f29855a..57eb4a2 100644
--- a/y2019/joystick_reader.cc
+++ b/y2019/joystick_reader.cc
@@ -188,8 +188,12 @@
// TODO(sabina): max height please?
if (data.IsPressed(kFallOver)) {
new_superstructure_goal->stilts.unsafe_goal = 0.71;
+ new_superstructure_goal->stilts.profile_params.max_velocity = 0.45;
+ new_superstructure_goal->stilts.profile_params.max_acceleration = 0.5;
} else if (data.IsPressed(kDeployStilt)) {
new_superstructure_goal->stilts.unsafe_goal = 0.50;
+ new_superstructure_goal->stilts.profile_params.max_velocity = 0.45;
+ new_superstructure_goal->stilts.profile_params.max_acceleration = 0.5;
} else {
new_superstructure_goal->stilts.unsafe_goal = 0.01;
}