commit 2efe168b06b79963f71251110b807835aa9ca482
author Austin Schuh <austin.linux@gmail.com> Sat Mar 06 22:47:15 2021 -0800
committer Austin Schuh <austin.linux@gmail.com> Sun Mar 07 22:50:18 2021 -0800
tree a3b9cac0e3bb23e0017bae2d402b3bea0f0e8f7f
parent 7fe26b60e15058eca526731740f65037395e3e47

Tune new hood

Now that we've got better hardware, remove all the hacks to make the old
hood work and tune it.  Much better!

Change-Id: I923cff6c133a23e732b7b593d92a5fa40398a298

y2020/control_loops/superstructure/shooter/shooter.cc

diff --git a/y2020/control_loops/superstructure/shooter/shooter.cc b/y2020/control_loops/superstructure/shooter/shooter.cc
index 6e48a21..8cdcf8c 100644
--- a/y2020/control_loops/superstructure/shooter/shooter.cc
+++ b/y2020/control_loops/superstructure/shooter/shooter.cc
@@ -30,8 +30,10 @@
       std::abs(goal->velocity_accelerator() -
                accelerator_left_.avg_angular_velocity()) < kVelocityTolerance &&
       std::abs(goal->velocity_accelerator() -
-               accelerator_right_.avg_angular_velocity()) < kVelocityTolerance &&
-      std::abs(goal->velocity_finisher() - finisher_.velocity()) < kVelocityTolerance &&
+               accelerator_right_.avg_angular_velocity()) <
+          kVelocityTolerance &&
+      std::abs(goal->velocity_finisher() - finisher_.velocity()) <
+          kVelocityTolerance &&
       std::abs(goal->velocity_accelerator() - accelerator_left_.velocity()) <
           kVelocityTolerance &&
       std::abs(goal->velocity_accelerator() - accelerator_right_.velocity()) <