Do some initial y2020 drivetrain tuning
1) Makes the drivetrain replay work in a multinode world.
2) Tweaks localizer and spline constants.
3) Initializes the localizer at the start of auto.
4) Runs a simple s-spline in auto, just for kicks.
Change-Id: I1cf990ee8d0c0811fa1e8de7b62209eb0260fa29
diff --git a/y2020/actors/auto_splines.cc b/y2020/actors/auto_splines.cc
index 86eed14..3498a3e 100644
--- a/y2020/actors/auto_splines.cc
+++ b/y2020/actors/auto_splines.cc
@@ -59,16 +59,16 @@
{longitudinal_constraint_offset, lateral_constraint_offset,
voltage_constraint_offset});
- const float startx = 0.4;
- const float starty = 3.4;
+ const float startx = 0.0;
+ const float starty = 0.05;
flatbuffers::Offset<flatbuffers::Vector<float>> spline_x_offset =
- builder->fbb()->CreateVector<float>({0.0f + startx, 0.6f + startx,
- 0.6f + startx, 0.4f + startx,
- 0.4f + startx, 1.0f + startx});
+ builder->fbb()->CreateVector<float>({0.0f + startx, 0.8f + startx,
+ 0.8f + startx, 1.2f + startx,
+ 1.2f + startx, 2.0f + startx});
flatbuffers::Offset<flatbuffers::Vector<float>> spline_y_offset =
builder->fbb()->CreateVector<float>({starty - 0.0f, starty - 0.0f,
- starty - 0.3f, starty - 0.7f,
- starty - 1.0f, starty - 1.0f});
+ starty - 0.1f, starty - 0.2f,
+ starty - 0.3f, starty - 0.3f});
frc971::MultiSpline::Builder multispline_builder =
builder->MakeBuilder<frc971::MultiSpline>();