commit 3fc6d5f07f0e691fa59c10b0b60802d68501032e
author Austin Schuh <austin@peloton-tech.com> Sat Apr 18 22:59:20 2015 -0700
committer Brian Silverman <brians> Thu May 14 00:41:07 2015 -0400
tree ab8936d6466fecda68d11cf26ca59ca04fec7097
parent 322d2d1e2e388e7ee0d89c7d4a37160d3648fd65

Added tunable turn acceleration to drivetrain profile.

Change-Id: I0f110f10f181e4f897e06b116a6cd67cc45f7f0a

frc971/actors/drivetrain_action.q

diff --git a/frc971/actors/drivetrain_action.q b/frc971/actors/drivetrain_action.q
index 6da2280..9ad55d3 100644
--- a/frc971/actors/drivetrain_action.q
+++ b/frc971/actors/drivetrain_action.q
@@ -10,6 +10,8 @@
   double theta_offset;
   double maximum_velocity;
   double maximum_acceleration;
+  double maximum_turn_velocity;
+  double maximum_turn_acceleration;
 };
 
 queue_group DrivetrainActionQueueGroup {

frc971/actors/drivetrain_actor.cc

diff --git a/frc971/actors/drivetrain_actor.cc b/frc971/actors/drivetrain_actor.cc
index 78724f6..1544cd0 100644
--- a/frc971/actors/drivetrain_actor.cc
+++ b/frc971/actors/drivetrain_actor.cc
@@ -39,10 +39,11 @@
 
   profile.set_maximum_acceleration(params.maximum_acceleration);
   profile.set_maximum_velocity(params.maximum_velocity);
-  turn_profile.set_maximum_acceleration(
-      10.0 * constants::GetValues().turn_width / 2.0);
-  turn_profile.set_maximum_velocity(3.0 * constants::GetValues().turn_width /
-                                    2.0);
+  turn_profile.set_maximum_acceleration(params.maximum_turn_acceleration *
+                                        constants::GetValues().turn_width /
+                                        2.0);
+  turn_profile.set_maximum_velocity(params.maximum_turn_velocity *
+                                    constants::GetValues().turn_width / 2.0);
 
   while (true) {
     ::aos::time::PhasedLoopXMS(5, 2500);