Claw, shooter and drivetrain are now generated.
Change-Id: I0aaa42a77cfef8362dcd39ea660fdf9e484279ea
diff --git a/y2014/control_loops/shooter/shooter.cc b/y2014/control_loops/shooter/shooter.cc
index 7506a0c..29682f2 100644
--- a/y2014/control_loops/shooter/shooter.cc
+++ b/y2014/control_loops/shooter/shooter.cc
@@ -17,6 +17,7 @@
using ::y2014::control_loops::shooter::kSpringConstant;
using ::y2014::control_loops::shooter::kMaxExtension;
+using ::y2014::control_loops::shooter::kDt;
using ::y2014::control_loops::shooter::MakeShooterLoop;
using ::aos::time::Time;
@@ -209,8 +210,6 @@
const control_loops::ShooterQueue::Position *position,
control_loops::ShooterQueue::Output *output,
control_loops::ShooterQueue::Status *status) {
- constexpr double dt = 0.01;
-
if (goal && ::std::isnan(goal->shot_power)) {
state_ = STATE_ESTOP;
LOG(ERROR, "Estopping because got a shot power of NAN.\n");
@@ -345,7 +344,7 @@
if (!disabled) {
shooter_.SetGoalPosition(
- shooter_.goal_position() + values.shooter.zeroing_speed * dt,
+ shooter_.goal_position() + values.shooter.zeroing_speed * kDt,
values.shooter.zeroing_speed);
}
cap_goal = true;
@@ -610,7 +609,7 @@
shooter_.SetGoalPosition(
::std::min(
values.shooter.upper_limit,
- shooter_.goal_position() + values.shooter.unload_speed * dt),
+ shooter_.goal_position() + values.shooter.unload_speed * kDt),
values.shooter.unload_speed);
}