Merge branch 'claw' into ben_shooter
Conflicts:
frc971/control_loops/claw/claw.cc
diff --git a/frc971/constants.cc b/frc971/constants.cc
index 4fea843..dd47975 100755
--- a/frc971/constants.cc
+++ b/frc971/constants.cc
@@ -34,12 +34,12 @@
const ShifterHallEffect kCompLeftDriveShifter{0.83, 2.32, 1.2, 1.0};
const ShifterHallEffect kCompRightDriveShifter{0.865, 2.375, 1.2, 1.0};
-const ShifterHallEffect kPracticeLeftDriveShifter{2.082283, 0.834433, 0.60,
+const ShifterHallEffect kPracticeLeftDriveShifter{5, 0, 0.60,
0.47};
-const ShifterHallEffect kPracticeRightDriveShifter{2.070124, 0.838993, 0.62,
+const ShifterHallEffect kPracticeRightDriveShifter{5, 0, 0.62,
0.55};
const double shooter_zeroing_off_speed = 0.0;
-const double shooter_zeroing_speed = 0.1;
+const double shooter_zeroing_speed = 0.05;
const Values *DoGetValues() {
uint16_t team = ::aos::network::GetTeamNumber();
@@ -69,8 +69,8 @@
1.57,
0,
0,
- {0.0, 2.05, 0.02, 2.02, {-0.1, 0.05, 0, 0}, {1.0, 1.1, 0, 0}, {2.0, 2.1, 0, 0}},
- {0.0, 2.05, 0.02, 2.02, {-0.1, 0.05, 0, 0}, {1.0, 1.1, 0, 0}, {2.0, 2.1, 0, 0}},
+ {0.0, 2.05, 0.02, 2.02, {-0.1, 0.05, -0.1, 0.05}, {1.0, 1.1, 1.0, 1.1}, {2.0, 2.1, 2.0, 2.1}},
+ {0.0, 2.05, 0.02, 2.02, {-0.1, 0.05, -0.1, 0.05}, {1.0, 1.1, 1.0, 1.1}, {2.0, 2.1, 2.0, 2.1}},
0.01, // claw_unimportant_epsilon
0.9, // start_fine_tune_pos
4.0,
@@ -121,31 +121,25 @@
control_loops::MakeDogDrivetrainLoop,
// ShooterLimits
// TODO(ben): make these real numbers
- {-0.000446, 0.300038, -0.001, 0.304354,
- 0.014436,
- {-2, 0.001786, 0.001786, -2}, {-2, -0.000446, -2, 0.026938}, {0.006096, 0.026416, 0, 0},
+ {-0.001042, 0.294084, -0.001935, 0.303460, 0.0138401,
+ {-0.002, 0.000446, -0.002, 0.000446},
+ {-0.002, 0.009078, -0.002, 0.009078},
+ {0.003869, 0.026194, 0.003869, 0.026194},
shooter_zeroing_off_speed,
shooter_zeroing_speed
},
- {0.5,
- 0.2,
- 0.1,
- -0.446558,
- 0.90675,
- -0.39110,
- 0.843349,
-#if 0
- separations (top, bottom)
- hard min position:-0.253845, position:-0.001136,
- soft min position:-0.244528, position:-0.047269,
- soft max position:0.526326, position:-0.510872,
- hard max position:0.517917, position:-0.582685,
-#endif
- {-1.62102, 1.039699, -1.606248, 0.989702, {-1.65, -1.546252, -1.65, -1.548752}, {-0.13249, -0.02113, -0.134763, -0.021589}, {0.934024, 1.05, 0.92970, 1.05}},
- {-1.420352, 1.348313, -1.161281, 1.264001, {-1.45, -1.283771, -1.45, -1.28468}, {-0.332476, -0.214984, -0.334294, -0.217029}, {1.248547, 1.37, 1.245366, 1.37}},
- 0.01, // claw_unimportant_epsilon
- 0.9, // start_fine_tune_pos
- 4.0,
+ {0.400000,
+ 0.200000,
+ 0.000000,
+ -0.762218,
+ 0.912207,
+ -0.362218,
+ 0.512207,
+ {-1.682379, 1.043334, -1.282379, 0.643334, {-1.7, -1.544662, -1.7, -1.547616}, {-0.130218, -0.019771, -0.132036, -0.018862}, {0.935842, 1.1, 0.932660, 1.1}},
+ {-1.225821, 1.553752, -0.825821, 1.153752, {-1.3, -1.088331, -1.3, -1.088331}, {-0.134536, -0.018408, -0.136127, -0.019771}, {1.447396, 1.6, 1.443987, 1.6}},
+ 0.020000, // claw_unimportant_epsilon
+ -0.200000, // start_fine_tune_pos
+ 4.000000,
}
};
break;