Bringup main robot
This gets all mechanisms zeroed and running.
Many profiles are still heavily detuned.
Catapult motors are moved to the CANivore bus.
Change-Id: I38a1845f804bd490d5fff285c636010ac8ea2c27
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>
diff --git a/y2024/control_loops/superstructure/collision_avoidance.h b/y2024/control_loops/superstructure/collision_avoidance.h
index 8fd14d7..fe36090 100644
--- a/y2024/control_loops/superstructure/collision_avoidance.h
+++ b/y2024/control_loops/superstructure/collision_avoidance.h
@@ -31,12 +31,9 @@
bool operator!=(const Status &s) const { return !(*this == s); }
};
- // Reference angles between which the turret will be careful
- static constexpr double kCollisionZoneTurret = M_PI * 7.0 / 18.0;
-
// For the turret, 0 rad is pointing straight forwards
- static constexpr double kMinCollisionZoneTurret = 0.07;
- static constexpr double kMaxCollisionZoneTurret = 2.1;
+ static constexpr double kMinCollisionZoneTurret = 0.15;
+ static constexpr double kMaxCollisionZoneTurret = 1.15;
// Maximum position of the intake to avoid collisions
static constexpr double kCollisionZoneIntake = 1.6;