| commit | 64f3a4332e398bb77256acb135c0b765a521fe98 | [log] [tgz] |
|---|---|---|
| author | Austin Schuh <austin.linux@gmail.com> | Sun Mar 13 15:30:27 2016 -0700 |
| committer | Austin Schuh <austin.linux@gmail.com> | Sun Mar 13 21:03:49 2016 -0700 |
| tree | d4e12ce018cd1f6486c7705f335959ce2ea4158a | |
| parent | f9ff613ebc8b13c769598ae9105fa6a88675b9ab [diff] [blame] |
Re-tuned drivetrain steering ratio. Change-Id: I1ccfb990667e94e6d7a3f72a7e95537a621a5f5a
diff --git a/frc971/control_loops/drivetrain/polydrivetrain.cc b/frc971/control_loops/drivetrain/polydrivetrain.cc index 8925a40..2624483 100644 --- a/frc971/control_loops/drivetrain/polydrivetrain.cc +++ b/frc971/control_loops/drivetrain/polydrivetrain.cc
@@ -112,7 +112,7 @@ const bool quickturn = goal.quickturn; const bool highgear = goal.highgear; - const double kWheelNonLinearity = 0.4; + const double kWheelNonLinearity = 0.55; // Apply a sin function that's scaled to make it feel better. const double angular_range = M_PI_2 * kWheelNonLinearity;