Increase stilts lift profile velocity goal
From looking at the log files, it appears that the robot might
be able to raise itself up a bit faster than it currently is doing.
I have increased the goal max velocity from 0.45 to 0.65 m/s.
When Austin tuned the acceleration goal, he increased it from 0.5 m/s^2
to 2.0 m/s^2. I did the same in this change.
Change-Id: I88cdce5cb9dec467d5ff7a8d6074b7fee69355c2
diff --git a/y2019/joystick_reader.cc b/y2019/joystick_reader.cc
index 746feab..40c9027 100644
--- a/y2019/joystick_reader.cc
+++ b/y2019/joystick_reader.cc
@@ -146,11 +146,11 @@
// TODO(sabina): max height please?
if (data.IsPressed(kFallOver)) {
new_superstructure_goal->stilts.unsafe_goal = 0.71;
- new_superstructure_goal->stilts.profile_params.max_velocity = 0.45;
+ new_superstructure_goal->stilts.profile_params.max_velocity = 0.65;
new_superstructure_goal->stilts.profile_params.max_acceleration = 2.0;
} else if (data.IsPressed(kDeployStilt)) {
new_superstructure_goal->stilts.unsafe_goal = 0.50;
- new_superstructure_goal->stilts.profile_params.max_velocity = 0.45;
+ new_superstructure_goal->stilts.profile_params.max_velocity = 0.65;
if (stilts_was_above_) {
new_superstructure_goal->stilts.profile_params.max_acceleration = 0.75;
} else {