Tune interpolation table
Change-Id: I302699ba742239e9a0b9c45c4658081773d4a925
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
diff --git a/y2020/constants.cc b/y2020/constants.cc
index 12448bb..013cac1 100644
--- a/y2020/constants.cc
+++ b/y2020/constants.cc
@@ -29,18 +29,18 @@
::frc971::zeroing::AbsoluteAndAbsoluteEncoderZeroingEstimator>
*const hood = &r->hood;
- constexpr double kInchesToMeters = 0.0254;
- // Approximate length from the front bumpers to the middle of the robot.
- constexpr double kHalfRobotLength = (36.00 / 2) * kInchesToMeters;
// We found that the finisher velocity does not change ball velocity much, so
// keep it constant.
constexpr double kVelocityFinisher = 350.0;
- r->shot_interpolation_table = InterpolationTable<Values::ShotParams>(
- {{40.00 * kInchesToMeters + kHalfRobotLength, {0.1, 10.6}},
- {113.5 * kInchesToMeters + kHalfRobotLength, {0.42, 13.2}},
- {168.5 * kInchesToMeters + kHalfRobotLength, {0.51, 13.2}},
- {231.3 * kInchesToMeters + kHalfRobotLength, {0.51, 13.2}},
- {276.5 * kInchesToMeters + kHalfRobotLength, {0.53, 13.2}}});
+ r->shot_interpolation_table =
+ InterpolationTable<Values::ShotParams>({{1.4732, {0.10, 10.6}},
+ {3.50, {0.48, 13.2}},
+ {4.7371, {0.535, 14.2}},
+ {5.27, {0.53, 14.55}},
+ {6.332, {0.53, 15.2}},
+ {7.48, {0.55, 17.0}},
+ {8.30, {0.565, 17.0}},
+ {9.20, {0.535, 17.0}}});
r->flywheel_shot_interpolation_table =
InterpolationTable<Values::FlywheelShotParams>(
diff --git a/y2020/control_loops/superstructure/turret/aiming.cc b/y2020/control_loops/superstructure/turret/aiming.cc
index 0ce4871..841f1a3 100644
--- a/y2020/control_loops/superstructure/turret/aiming.cc
+++ b/y2020/control_loops/superstructure/turret/aiming.cc
@@ -72,7 +72,7 @@
// Minimum distance that we must be from the inner port in order to attempt the
// shot--this is to account for the fact that if we are too close to the target,
// then we won't have a clear shot on the inner port.
-constexpr double kMinimumInnerPortShotDistance = 3.0;
+constexpr double kMinimumInnerPortShotDistance = 3.5;
// Amount of buffer, in radians, to leave to help avoid wrapping. I.e., any time
// that we are in kAvoidEdges mode, we will keep ourselves at least