Reorganized sensors in the shooter.
diff --git a/frc971/constants.cc b/frc971/constants.cc
index c6949ad..a3a27cc 100755
--- a/frc971/constants.cc
+++ b/frc971/constants.cc
@@ -38,13 +38,8 @@
0.47};
const ShifterHallEffect kPracticeRightDriveShifter{2.070124, 0.838993, 0.62,
0.55};
-const double shooter_lower_physical_limit=0.0;
-const double shooter_upper_physical_limit=0.0;
-const double shooter_voltage=0.0;
-const double shooter_hall_effect_start_position=0.0;
const double shooter_zeroing_off_speed=0.0;
const double shooter_zeroing_speed=1.0;
-const double position=0.0;
const Values *DoGetValues() {
uint16_t team = ::aos::network::GetTeamNumber();
@@ -62,14 +57,10 @@
control_loops::MakeClutchDrivetrainLoop,
// ShooterLimits
// TODO(ben): make these real numbers
- {0.0, 1.0, {-0.03, 0.02}, {-0.01, 0.04}, {0.02, 0.07}},
- shooter_voltage,
- // shooter_total_length
- 1.0,
- shooter_hall_effect_start_position,
+ {0.0, 1.0, {-0.03, 0.02}, {-0.01, 0.04}, {0.02, 0.07},
shooter_zeroing_off_speed,
- shooter_zeroing_speed,
- position,
+ shooter_zeroing_speed
+ },
{0.5,
0.1,
0.1,
@@ -95,14 +86,10 @@
control_loops::MakeDogDrivetrainLoop,
// ShooterLimits
// TODO(ben): make these real numbers
- {0.0, 1.0, {-0.03, 0.02}, {-0.01, 0.04}, {0.02, 0.07}},
- shooter_voltage,
- // shooter_total_length
- 1.0,
- shooter_hall_effect_start_position,
+ {0.0, 1.0, {-0.03, 0.02}, {-0.01, 0.04}, {0.02, 0.07},
shooter_zeroing_off_speed,
shooter_zeroing_speed,
- position,
+ },
{0.5,
0.2,
0.1,