Allow the wrist to move when the shoulder isn't all the way up.
This lets us make one of the fender shots.
Change-Id: I4a0033f09978f9edf9166620739c587c0647b7ee
diff --git a/y2016/control_loops/superstructure/superstructure.h b/y2016/control_loops/superstructure/superstructure.h
index fd00fd1..7dad0ec 100644
--- a/y2016/control_loops/superstructure/superstructure.h
+++ b/y2016/control_loops/superstructure/superstructure.h
@@ -77,7 +77,7 @@
// The intake angle (in radians) above which the intake can interfere (i.e.
// collide) with the arm and/or shooter.
- static constexpr double kMaxIntakeAngleBeforeArmInterference = 1.12;
+ static constexpr double kMaxIntakeAngleBeforeArmInterference = 1.05;
// The maximum absolute angle (in radians) that the wrist must be below in
// order for the shouler to be allowed to move below
@@ -86,9 +86,12 @@
// also be placed into the belly pan.
static constexpr double kMaxWristAngleForSafeArmStowing = 0.05;
- // The maximum absolute angle in radians that the wrist can be from horizontal
+ // The maximum angle in radians that the wrist can be from horizontal
// while it is near the intake.
static constexpr double kMaxWristAngleForMovingByIntake = 0.50;
+ // The minimum angle in radians that the wrist can be from horizontal
+ // while it is near the intake.
+ static constexpr double kMinWristAngleForMovingByIntake = -1.20;
// The shoulder angle (in radians) below which the intake can safely move
// into the collision zone. This is necessary when the robot wants to fold up
@@ -109,7 +112,7 @@
static constexpr double kZeroingVoltage = 5.0;
static constexpr double kOperatingVoltage = 12.0;
- static constexpr double kLandingShoulderDownVoltage = -2.0;
+ static constexpr double kLandingShoulderDownVoltage = -1.5;
// This is the angle above which we will do a HIGH_ARM_ZERO, and below which
// we will do a LOW_ARM_ZERO.