Avoid shooter collision with new intake
The new constants were chosen using CAD with the new
intake. Before this, the constants assumed that the wrist
is facing away from the intake, but now they allow for
the wrist to be at any angle without colliding.
Change-Id: I4b34af2854e2f8ee2415b8365bbd5f272a082211
diff --git a/y2016/control_loops/superstructure/superstructure.h b/y2016/control_loops/superstructure/superstructure.h
index 2967a72..b7cfbd4 100644
--- a/y2016/control_loops/superstructure/superstructure.h
+++ b/y2016/control_loops/superstructure/superstructure.h
@@ -69,13 +69,13 @@
// shoulder is below this angle.
static constexpr double kMinShoulderAngleForHorizontalShooter = 0.6;
- // The shoulder angle (in radians) below which the arm as a whole has the
- // potential to interfere with the intake.
- static constexpr double kMinShoulderAngleForIntakeInterference = 0.8;
+ // The shoulder angle (in radians) below which the arm and the shooter have
+ // the potential to interfere with the intake.
+ static constexpr double kMinShoulderAngleForIntakeInterference = 1.3;
// The intake angle (in radians) above which the intake can interfere (i.e.
// collide) with the arm and/or shooter.
- static constexpr double kMaxIntakeAngleBeforeArmInterference = 1.2;
+ static constexpr double kMaxIntakeAngleBeforeArmInterference = 1.12;
// The maximum absolute angle (in radians) that the wrist must be below in
// order for the shouler to be allowed to move below