commit 241d05c07517b0986f42a208f6ad6afce62793f3
author Maxwell Henderson <maxwell.henderson@mailbox.org> Sun Sep 24 11:11:36 2023 -0700
committer Austin Schuh <austin.linux@gmail.com> Sun Sep 24 12:06:27 2023 -0700
tree 69f27914d9f0b35cdf18c38b6610060a093cec98
parent e990bd2f6ae5a390d32b38dd853aa1bb18998ef3

Fix drivetrain jittering during placing

Signed-off-by: Maxwell Henderson <maxwell.henderson@mailbox.org>
Change-Id: I66d40143aec46fee55a731feb340c31cfd718c1e

frc971/control_loops/drivetrain/line_follow_drivetrain.cc

diff --git a/frc971/control_loops/drivetrain/line_follow_drivetrain.cc b/frc971/control_loops/drivetrain/line_follow_drivetrain.cc
index 9823f0c..355710c 100644
--- a/frc971/control_loops/drivetrain/line_follow_drivetrain.cc
+++ b/frc971/control_loops/drivetrain/line_follow_drivetrain.cc
@@ -257,7 +257,7 @@
        relative_pose_.rel_pos().y(), relative_pose_.rel_theta(),
        abs_state(3, 0), abs_state(4, 0))
           .finished();
-  if (velocity_sign_ * goal_velocity_ < 0) {
+  if (velocity_sign_ * goal_velocity_ < -0.1) {
     goal_theta = rel_state(2, 0);
   }
   controls_goal_ << goal_theta, goal_velocity_, 0.0;