commit 5772d1645e80e67c52d526d1dad83edb45b1a893
author Austin Schuh <austin.linux@gmail.com> Wed Mar 31 22:21:44 2021 -0700
committer Gerrit Code Review <gerrit@software.frc971.org> Wed Mar 31 22:21:44 2021 -0700
tree b7b85be278b2b4c78a8f0c8bbf838a38e988b928
parent 2cbabe119e8c5007eae4df97fd0d20815a13c35b
parent 890196c167fe6395727dd8b701cab05f5d5d5164

Merge "Plan with more fidelity"

frc971/control_loops/drivetrain/trajectory.cc

diff --git a/frc971/control_loops/drivetrain/trajectory.cc b/frc971/control_loops/drivetrain/trajectory.cc
index 08dd3fd..1a94756 100644
--- a/frc971/control_loops/drivetrain/trajectory.cc
+++ b/frc971/control_loops/drivetrain/trajectory.cc
@@ -111,7 +111,7 @@
       spline_(std::move(input_spline)),
       config_(config),
       plan_(num_distance == 0
-                ? std::max(100, static_cast<int>(spline_.length() / 0.0025))
+                ? std::max(10000, static_cast<int>(spline_.length() / 0.0025))
                 : num_distance,
             vmax),
       plan_segment_type_(plan_.size(),