Tune shooter control loop
It converges much faster now. To plot live, use:
web_proxy_main.stripped --buffer_size 10000
Change-Id: I499b8cdac176e26b33fd6cbef2bc0b2a3b5e0c9a
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
diff --git a/y2020/control_loops/superstructure/superstructure_status.fbs b/y2020/control_loops/superstructure/superstructure_status.fbs
index adca326..e55e19b 100644
--- a/y2020/control_loops/superstructure/superstructure_status.fbs
+++ b/y2020/control_loops/superstructure/superstructure_status.fbs
@@ -33,6 +33,10 @@
// Velocity is the fastest (top) wheel
accelerator_left:FlywheelControllerStatus (id: 1);
accelerator_right:FlywheelControllerStatus (id: 2);
+
+ // If the shooter is ready, this is true. Note: don't use this for status
+ // checking, only for plotting. Changes in goal take time to impact this.
+ ready:bool (id: 3);
}
table AimerStatus {