commit 4147255028491c44deeb489869cccf6e094e5201
author Austin Schuh <austin.linux@gmail.com> Sun Mar 13 18:09:41 2022 -0700
committer Austin Schuh <austin.linux@gmail.com> Sun Mar 13 18:27:48 2022 -0700
tree ebc34dcf2c8f6b4749cdc1913ba946d5f268d228
parent 6726d6bfbd56eb29cd247eae9635069adb7ee438

Report MPC horizon and drop any cycles at the beginning which are 0

This lets us start firing faster.

Change-Id: Idda068e3b0ca78da6ec5ab422d217d10d9c65e1c
Signed-off-by: Austin Schuh <austin.linux@gmail.com>

y2022/control_loops/superstructure/catapult_plotter.ts

diff --git a/y2022/control_loops/superstructure/catapult_plotter.ts b/y2022/control_loops/superstructure/catapult_plotter.ts
index cfa360d..6c66340 100644
--- a/y2022/control_loops/superstructure/catapult_plotter.ts
+++ b/y2022/control_loops/superstructure/catapult_plotter.ts
@@ -26,7 +26,9 @@
 
   positionPlot.addMessageLine(goal, ['catapult', 'return_position', 'unsafe_goal']).setColor(BLUE).setPointSize(1.0);
   positionPlot.addMessageLine(goal, ['catapult', 'fire']).setColor(WHITE).setPointSize(1.0);
-  positionPlot.addMessageLine(status, ['mpc_active']).setColor(WHITE).setPointSize(3.0);
+  positionPlot.addMessageLine(status, ['mpc_horizon'])
+      .setColor(WHITE)
+      .setPointSize(3.0);
   positionPlot.addMessageLine(status, ['catapult', 'goal_position']).setColor(RED).setPointSize(4.0);
   positionPlot.addMessageLine(status, ['catapult', 'goal_velocity']).setColor(ORANGE).setPointSize(4.0);
   positionPlot.addMessageLine(status, ['catapult', 'position']).setColor(GREEN).setPointSize(4.0);