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/wpilib_interface.cc

diff --git a/y2020/wpilib_interface.cc b/y2020/wpilib_interface.cc
index cc1e1b8..555d16b 100644
--- a/y2020/wpilib_interface.cc
+++ b/y2020/wpilib_interface.cc
@@ -395,9 +395,9 @@
 
  private:
   void Write(const superstructure::Output &output) override {
-    hood_victor_->SetSpeed(
-        std::clamp(output.hood_voltage(), -kMaxBringupPower, kMaxBringupPower) /
-        12.0);
+    hood_victor_->SetSpeed(std::clamp(-output.hood_voltage(), -kMaxBringupPower,
+                                      kMaxBringupPower) /
+                           12.0);
 
     intake_joint_victor_->SetSpeed(std::clamp(-output.intake_joint_voltage(),
                                               -kMaxBringupPower,