Slowed down indexer response.
Change-Id: I04f05f34f52fc5a7c788dfe2d1a0259241f9a030
diff --git a/y2017/control_loops/superstructure/column/column.cc b/y2017/control_loops/superstructure/column/column.cc
index 7c119e0..cbc76ab 100644
--- a/y2017/control_loops/superstructure/column/column.cc
+++ b/y2017/control_loops/superstructure/column/column.cc
@@ -25,10 +25,10 @@
namespace {
constexpr double kTolerance = 10.0;
-constexpr double kIndexerAcceleration = 100.0;
+constexpr double kIndexerAcceleration = 50.0;
constexpr chrono::milliseconds kForwardTimeout{500};
-constexpr chrono::milliseconds kReverseTimeout{500};
-constexpr chrono::milliseconds kReverseMinTimeout{100};
+constexpr chrono::milliseconds kReverseTimeout{1000};
+constexpr chrono::milliseconds kReverseMinTimeout{500};
} // namespace
constexpr double Column::kZeroingVoltage;
@@ -335,7 +335,7 @@
}
}
bool ColumnProfiledSubsystem::IsIndexerStuck() const {
- return IndexerStuckVoltage() > 4.0;
+ return IndexerStuckVoltage() > 6.0;
}
void ColumnProfiledSubsystem::PartialIndexerReset() {