Tune turret for real
Add in friction compensation and tune the controller a bit. Fix a poor
velocity estimate.
Change-Id: I153b659bf92d5f34f0e8f59fda34e3c693e41d6a
diff --git a/y2020/control_loops/superstructure/superstructure_goal.fbs b/y2020/control_loops/superstructure/superstructure_goal.fbs
index f066ab0..c7fe643 100644
--- a/y2020/control_loops/superstructure/superstructure_goal.fbs
+++ b/y2020/control_loops/superstructure/superstructure_goal.fbs
@@ -27,9 +27,7 @@
// Positive is rollers intaking to Washing Machine.
roller_voltage:float;
- // 0 = facing the front of the robot. Positive rotates counterclockwise.
- // TODO(Kai): Define which wrap of the shooter is 0 if it can rotate past
- // forward more than once.
+ // 0 = facing the back of the robot. Positive rotates counterclockwise.
turret:frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemGoal;
// Only applies if shooter_tracking = false.