commit 55a930b5637f195ab9c77c592596e7753422cc44
author Brian Silverman <brians> Mon Nov 04 20:59:00 2013 -0800
committer Brian Silverman <brians> Mon Nov 04 20:59:00 2013 -0800
tree 0f8de92432659bc950893a584220d5885ae65659
parent a7dec80aaded5f49ebdc6918e0e667f877203e7a

tweaked constants and disabled auto-shifting

frc971/control_loops/drivetrain/drivetrain.cc

diff --git a/frc971/control_loops/drivetrain/drivetrain.cc b/frc971/control_loops/drivetrain/drivetrain.cc
index 2b16c0b..921fab0 100644
--- a/frc971/control_loops/drivetrain/drivetrain.cc
+++ b/frc971/control_loops/drivetrain/drivetrain.cc
@@ -212,14 +212,14 @@
     const double low_omega = MotorSpeed(0, ::std::abs(velocity));
     const double high_omega = MotorSpeed(1.0, ::std::abs(velocity));
 
-    LOG(DEBUG, "velocity %f\n", velocity);
     double high_torque = ((12.0 - high_omega / Kv) * Kt / kR);
     double low_torque = ((12.0 - low_omega / Kv) * Kt / kR);
     double high_power = high_torque * high_omega;
     double low_power = low_torque * low_omega;
-    if ((current == HIGH ||
-         high_power > low_power + /*50*/50) &&
-        high_power > low_power - /*50*/200) {
+
+    // TODO(aschuh): Do this right!
+    if ((current == HIGH || high_power > low_power + 160) &&
+        ::std::abs(velocity) > 0.14) {
       return HIGH;
     } else {
       return LOW;
@@ -244,7 +244,7 @@
 
     // TODO(austin): Fix the upshift logic to include states.
     Gear requested_gear;
-    if (constants::GetValues().clutch_transmission) {
+    if (false) {
       const double current_left_velocity =
           (position_.left_encoder - last_position_.left_encoder) /
           position_time_delta_;
@@ -272,6 +272,12 @@
         } else {
           left_gear_ = shift_down;
         }
+      } else {
+        if (requested_gear == HIGH && left_gear_ == SHIFTING_DOWN) {
+          left_gear_ = SHIFTING_UP;
+        } else if (requested_gear == LOW && left_gear_ == SHIFTING_UP) {
+          left_gear_ = SHIFTING_DOWN;
+        }
       }
     }
     if (right_gear_ != requested_gear) {
@@ -281,6 +287,12 @@
         } else {
           right_gear_ = shift_down;
         }
+      } else {
+        if (requested_gear == HIGH && right_gear_ == SHIFTING_DOWN) {
+          right_gear_ = SHIFTING_UP;
+        } else if (requested_gear == LOW && right_gear_ == SHIFTING_UP) {
+          right_gear_ = SHIFTING_DOWN;
+        }
       }
     }
   }