Decel the catapult even faster
Change-Id: I9062fc0c1643b0d3bf599bd499d13f554cded214
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
diff --git a/y2022/control_loops/superstructure/catapult/catapult.cc b/y2022/control_loops/superstructure/catapult/catapult.cc
index c43a777..4a644e2 100644
--- a/y2022/control_loops/superstructure/catapult/catapult.cc
+++ b/y2022/control_loops/superstructure/catapult/catapult.cc
@@ -397,8 +397,10 @@
}
case CatapultState::RESETTING:
- if (catapult_.controller().R(1, 0) > 0.0) {
- catapult_.AdjustProfile(7.0, 1400.0);
+ if (catapult_.controller().R(1, 0) > 7.0) {
+ catapult_.AdjustProfile(7.0, 2000.0);
+ } else if (catapult_.controller().R(1, 0) > 0.0) {
+ catapult_.AdjustProfile(7.0, 1000.0);
} else {
catapult_state_ = CatapultState::PROFILE;
}