Bringup progress
Here's how far I got bringing the robot up. Turret needs to be
re-calibrated again, it keeps slipping.
Change-Id: Idf8cb73973434cf9c64fd737852f1b3092b79c75
Signed-off-by: milind-u <milind.upadhyay@gmail.com>
diff --git a/y2022/control_loops/superstructure/catapult/catapult.cc b/y2022/control_loops/superstructure/catapult/catapult.cc
index adc13c7..b99f59b 100644
--- a/y2022/control_loops/superstructure/catapult/catapult.cc
+++ b/y2022/control_loops/superstructure/catapult/catapult.cc
@@ -392,7 +392,7 @@
case CatapultState::RESETTING:
if (catapult_.controller().R(1, 0) > 0.0) {
- catapult_.AdjustProfile(7.0, 500.0);
+ catapult_.AdjustProfile(7.0, 1000.0);
} else {
catapult_state_ = CatapultState::PROFILE;
}
diff --git a/y2022/control_loops/superstructure/superstructure.cc b/y2022/control_loops/superstructure/superstructure.cc
index b9e0698..c93165d 100644
--- a/y2022/control_loops/superstructure/superstructure.cc
+++ b/y2022/control_loops/superstructure/superstructure.cc
@@ -253,8 +253,9 @@
const double flipper_open_position =
(flippers_open_ ? constants::Values::kReseatFlipperPosition()
: constants::Values::kFlipperOpenPosition());
+
+ // TODO(milind): add left arm back once it's fixed
flippers_open_ =
- position->flipper_arm_left()->encoder() >= flipper_open_position &&
position->flipper_arm_right()->encoder() >= flipper_open_position;
if (flippers_open_) {
diff --git a/y2022/control_loops/superstructure/superstructure_lib_test.cc b/y2022/control_loops/superstructure/superstructure_lib_test.cc
index cd5929b..c5eb110 100644
--- a/y2022/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2022/control_loops/superstructure/superstructure_lib_test.cc
@@ -818,7 +818,7 @@
EXPECT_EQ(superstructure_output_fetcher_->roller_voltage_front(), 0.0);
EXPECT_EQ(superstructure_output_fetcher_->roller_voltage_back(), 0.0);
- RunFor(chrono::seconds(1));
+ RunFor(chrono::seconds(2));
// Make sure that we are still transferring and the front transfer rollers
// still have a ball. The turret should now be at the loading position and the
@@ -1179,8 +1179,7 @@
goal_builder.add_auto_aim(true);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
// Give it time to stabilize.