commit 5462941621d15d984b64b3b3f02130340a6ff1ac
author Austin Schuh <austin.linux@gmail.com> Sun Apr 14 19:53:59 2019 -0700
committer Austin Schuh <austin.linux@gmail.com> Sun Apr 14 20:22:06 2019 -0700
tree 99900a0642fa549058675099e3a49e0eee612f78
parent f4b7d0cdc4db8d68de71176a2239955b171696de

Add hysterisis for vacuum.

When disabled, we want to not say that we dropped it for longer to avoid
dropping at the end of auto.

Change-Id: I93ede157b89908fc9b5879491b52d2dad3a96e13

y2019/control_loops/superstructure/vacuum.h

diff --git a/y2019/control_loops/superstructure/vacuum.h b/y2019/control_loops/superstructure/vacuum.h
index f0e97e9..e793530 100644
--- a/y2019/control_loops/superstructure/vacuum.h
+++ b/y2019/control_loops/superstructure/vacuum.h
@@ -1,7 +1,7 @@
 #ifndef Y2019_CONTROL_LOOPS_SUPERSTRUCTURE_VACUUM_H_
 #define Y2019_CONTROL_LOOPS_SUPERSTRUCTURE_VACUUM_H_
 
-#include "aos/controls/control_loop.h"
+#include "aos/events/event-loop.h"
 #include "y2019/control_loops/superstructure/superstructure.q.h"
 
 namespace y2019 {
@@ -33,11 +33,17 @@
   bool had_piece_ = false;
   aos::monotonic_clock::time_point last_release_time_ =
       aos::monotonic_clock::epoch();
+  // Time since the last time we had a game piece while disabled.
+  aos::monotonic_clock::time_point last_disable_has_piece_time_ =
+      aos::monotonic_clock::min_time;
   aos::monotonic_clock::time_point time_at_last_acquisition_ =
       aos::monotonic_clock::epoch();
   double filtered_pressure_ = 1.0;
 
-  static constexpr double kVacuumThreshold = 0.70;
+  bool filtered_had_piece_near_disabled_ = false;
+
+  static constexpr double kVacuumOnThreshold = 0.70;
+  static constexpr double kVacuumOffThreshold = 0.85;
 
   static constexpr double kFilterTimeConstant = 0.1;
   static constexpr double dt = .00505;