commit 0c001a89d4bbd54d643714539e926264b4d68759
author Austin Schuh <austin.linux@gmail.com> Sun May 01 12:30:09 2016 -0700
committer Austin Schuh <austin.linux@gmail.com> Fri May 13 20:24:51 2016 -0700
tree 8fb9045b33c3d6ba5d19bf00ebf8e5e63b4a6794
parent e54b987d9fd35e3fd5b2ffec167bf645df5d47a6

Tuned shoulder actor for the new string length and reduced power when landed while hanging.

Change-Id: I85506f2fa7983494e560b62989bc5746b1ad7800

y2016/control_loops/superstructure/superstructure.cc

diff --git a/y2016/control_loops/superstructure/superstructure.cc b/y2016/control_loops/superstructure/superstructure.cc
index 49ea43f..931b33e 100644
--- a/y2016/control_loops/superstructure/superstructure.cc
+++ b/y2016/control_loops/superstructure/superstructure.cc
@@ -611,7 +611,7 @@
                                  ? kOperatingVoltage
                                  : kZeroingVoltage;
   if (unsafe_goal) {
-    constexpr float kTriggerThreshold = 12.0 * 0.25 / 0.005;
+    constexpr float kTriggerThreshold = 12.0 * 0.90 / 0.005;
 
     if (unsafe_goal->voltage_climber > 1.0) {
       kill_shoulder_accumulator_ +=
@@ -624,8 +624,11 @@
       kill_shoulder_ = true;
     }
   }
-  arm_.set_max_voltage(kill_shoulder_ ? 0.0 : max_voltage,
-                       kill_shoulder_ ? kShooterHangingVoltage : max_voltage);
+  arm_.set_max_voltage(
+      kill_shoulder_ ? 0.0 : max_voltage,
+      kill_shoulder_ ? (arm_.X_hat(0, 0) < 0.05 ? kShooterHangingLowVoltage
+                                                : kShooterHangingVoltage)
+                     : max_voltage);
   intake_.set_max_voltage(max_voltage);
 
   if (IsRunning() && !kill_shoulder_) {

y2016/control_loops/superstructure/superstructure.h

diff --git a/y2016/control_loops/superstructure/superstructure.h b/y2016/control_loops/superstructure/superstructure.h
index 0fb851a..eb16405 100644
--- a/y2016/control_loops/superstructure/superstructure.h
+++ b/y2016/control_loops/superstructure/superstructure.h
@@ -112,6 +112,7 @@
 
   static constexpr double kZeroingVoltage = 6.0;
   static constexpr double kShooterHangingVoltage = 6.0;
+  static constexpr double kShooterHangingLowVoltage = 2.0;
   static constexpr double kOperatingVoltage = 12.0;
   static constexpr double kLandingShoulderDownVoltage = -1.5;