commit 304b2bfcef75a2db8457b6a9828de889ebcaf65d
author Brian Silverman <brians> Thu Apr 04 17:54:41 2013 -0700
committer Brian Silverman <brians> Thu Apr 04 17:54:41 2013 -0700
tree 85c2877cc80a329f002b4112141d6cafef3dc4a7
parent 81fb1bc080829033414acc51c0f416e1e926ef77

it works ok

frc971/autonomous/auto.cc

diff --git a/frc971/autonomous/auto.cc b/frc971/autonomous/auto.cc
index 5e3db3e..673368a 100644
--- a/frc971/autonomous/auto.cc
+++ b/frc971/autonomous/auto.cc
@@ -331,8 +331,8 @@
   double WRIST_UP;
   const double WRIST_DOWN = -0.580;
   const double WRIST_DOWN_TWO = WRIST_DOWN - 0.010;
-  const double ANGLE_ONE = 0.560;
-  const double ANGLE_TWO = 0.707;
+  const double ANGLE_ONE = 0.556;
+  const double ANGLE_TWO = 0.677;
 
   ResetIndex();
   SetWristGoal(1.0);  // wrist must calibrate itself on power-up
@@ -340,7 +340,7 @@
   SetShooterVelocity(0.0);  // or else it keeps spinning from last time
   ResetDrivetrain();
 
-  ::aos::time::SleepFor(::aos::time::Time::InSeconds(20));
+  //::aos::time::SleepFor(::aos::time::Time::InSeconds(20));
   if (ShouldExitAuto()) return;
   
   ::aos::robot_state.FetchLatest();
@@ -366,7 +366,7 @@
 
   SetWristGoal(WRIST_UP);    // wrist must calibrate itself on power-up
   SetAngle_AdjustGoal(ANGLE_ONE);
-  SetShooterVelocity(400.0);
+  SetShooterVelocity(380.0);
   WaitForIndexReset();
   if (ShouldExitAuto()) return;
   PreloadIndex();      // spin to top and put 1 disc into loader
@@ -414,7 +414,7 @@
     if (ShouldExitAuto()) return;
   } else {
     // Delay to let the disc out of the shooter.
-    ::aos::time::SleepFor(::aos::time::Time::InSeconds(0.1));
+    ::aos::time::SleepFor(::aos::time::Time::InSeconds(0.25));
     SetWristGoal(WRIST_DOWN);
     StartIndex();				// take in up to 4 discs