tuned shots
diff --git a/frc971/control_loops/claw/claw.q b/frc971/control_loops/claw/claw.q
index 116a182..53289ee 100644
--- a/frc971/control_loops/claw/claw.q
+++ b/frc971/control_loops/claw/claw.q
@@ -22,7 +22,7 @@
double negedge_value;
};
-// All angles here are 0 horizontal, positive up.
+// All angles here are 0 vertical, positive "up" (aka backwards).
queue_group ClawGroup {
implements aos.control_loops.ControlLoop;
diff --git a/frc971/input/joystick_reader.cc b/frc971/input/joystick_reader.cc
index 7b97bbd..698fe45 100644
--- a/frc971/input/joystick_reader.cc
+++ b/frc971/input/joystick_reader.cc
@@ -87,23 +87,29 @@
const ClawGoal kFlippedIntakeGoal = {2.0, kGrabSeparation};
const ClawGoal kFlippedIntakeOpenGoal = {0.95, 1.0};
-//const ShotGoal kLongShotGoal = {
- //{-M_PI / 2.0 + 0.46, kShootSeparation}, 120, false, kIntakePower};
+// 34" between near edge of colored line and rear edge of bumper
const ShotGoal kLongShotGoal = {
- {-1.04, kShootSeparation}, 140, 0.04, kIntakePower};
-const ShotGoal kMediumShotGoal = {
- {-0.90, kShootSeparation}, 105, 0.2, kIntakePower};
-const ShotGoal kShortShotGoal = {
- {-0.670, kShootSeparation}, 71.0, 0, kIntakePower};
-const ShotGoal kTrussShotGoal = {
- {-0.05, kShootSeparation}, 61.0, 0, kIntakePower};
-
+ {-1.06, kShootSeparation}, 140, 0.04, kIntakePower};
+// 3/4" plunger {-1.04, kShootSeparation}, 140, 0.04, kIntakePower};
const ShotGoal kFlippedLongShotGoal = {
{0.97, kShootSeparation}, 140, 0.08, kIntakePower};
+// 3/4 " plunger {0.97, kShootSeparation}, 140, 0.08, kIntakePower};
+
+// 78" between near edge of colored line and rear edge of bumper
+const ShotGoal kMediumShotGoal = {
+ {-0.95, kShootSeparation}, 105, 0.2, kIntakePower};
+// 3/4" plunger {-0.90, kShootSeparation}, 105, 0.2, kIntakePower};
const ShotGoal kFlippedMediumShotGoal = {
{0.80, kShootSeparation}, 105, 0.2, kIntakePower};
+// 3/4" plunger {0.80, kShootSeparation}, 105, 0.2, kIntakePower};
+
+const ShotGoal kShortShotGoal = {
+ {-0.670, kShootSeparation}, 71.0, 0.4, kIntakePower};
const ShotGoal kFlippedShortShotGoal = {
- {0.57, kShootSeparation}, 80.0, 0, kIntakePower};
+ {0.57, kShootSeparation}, 80.0, 0.4, kIntakePower};
+
+const ShotGoal kTrussShotGoal = {
+ {-0.05, kShootSeparation}, 73.0, 0, kIntakePower};
// Makes a new ShootAction action.
::std::unique_ptr<TypedAction< ::frc971::actions::CatchActionGroup>>