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.h b/frc971/constants.h
index 3952642..81c7887 100755
--- a/frc971/constants.h
+++ b/frc971/constants.h
@@ -49,6 +49,11 @@
struct Shooter {
double lower_limit;
double upper_limit;
+ double lower_hard_limit;
+ double upper_hard_limit;
+ // If the plunger is further back than this position, it is safe for the
+ // latch to be down. Anything else would be considered a collision.
+ double latch_max_safe_position;
AnglePair plunger_back;
AnglePair pusher_distal;
AnglePair pusher_proximal;