Worked through the shooter loop and fixed a bunch of bugs. Switched the internal state in the loop to use the 0 point of the spring, fixed problems with the shooter, and pushed calibratoin into the loop. Lots better now.
diff --git a/frc971/constants.cc b/frc971/constants.cc
index a3a27cc..be98d31 100755
--- a/frc971/constants.cc
+++ b/frc971/constants.cc
@@ -57,9 +57,10 @@
control_loops::MakeClutchDrivetrainLoop,
// ShooterLimits
// TODO(ben): make these real numbers
- {0.0, 1.0, {-0.03, 0.02}, {-0.01, 0.04}, {0.02, 0.07},
- shooter_zeroing_off_speed,
- shooter_zeroing_speed
+ {-0.00127, 0.298196, -0.001524, 0.305054, 0.0149098,
+ {-0.001778, 0.000762}, {-0.001778, 0.009906}, {0.006096, 0.026416},
+ shooter_zeroing_off_speed,
+ shooter_zeroing_speed
},
{0.5,
0.1,
@@ -86,9 +87,10 @@
control_loops::MakeDogDrivetrainLoop,
// ShooterLimits
// TODO(ben): make these real numbers
- {0.0, 1.0, {-0.03, 0.02}, {-0.01, 0.04}, {0.02, 0.07},
- shooter_zeroing_off_speed,
- shooter_zeroing_speed,
+ {-0.00127, 0.298196, -0.001524, 0.305054, 0.0149098,
+ {-0.001778, 0.000762}, {-0.001778, 0.009906}, {0.006096, 0.026416},
+ shooter_zeroing_off_speed,
+ shooter_zeroing_speed
},
{0.5,
0.2,