Add collision avoidance
Makes sure that the intakes dont collide with the back of the catapult
Signed-off-by: Henry Speiser <henry@speiser.net>
Change-Id: Ie25dd244d2ef316bd1c3dfa20636c5b6150113ef
diff --git a/y2022/constants.h b/y2022/constants.h
index 92ae81e..fc9083a 100644
--- a/y2022/constants.h
+++ b/y2022/constants.h
@@ -104,10 +104,10 @@
// TODO (Yash): Constants need to be tuned
static constexpr ::frc971::constants::Range kTurretRange() {
return ::frc971::constants::Range{
- .lower_hard = -3.45, // Back Hard
- .upper_hard = 3.45, // Front Hard
- .lower = -3.3, // Back Soft
- .upper = 3.3 // Front Soft
+ .lower_hard = -0.1, // Back Hard
+ .upper_hard = 4.71, // Front Hard
+ .lower = 0.0, // Back Soft
+ .upper = 3.3 // Front Soft
};
}