Fixed a couple unit test overshoot failures and an initial state bug.
diff --git a/frc971/constants.cc b/frc971/constants.cc
index c4f747b..2c766a0 100755
--- a/frc971/constants.cc
+++ b/frc971/constants.cc
@@ -38,8 +38,8 @@
0.47};
const ShifterHallEffect kPracticeRightDriveShifter{5, 0, 0.62,
0.55};
-const double shooter_zeroing_off_speed = 0.0;
const double shooter_zeroing_speed = 0.05;
+const double shooter_unload_speed = 0.08;
const Values *DoGetValuesForTeam(uint16_t team) {
switch (team) {
@@ -57,8 +57,8 @@
// TODO(ben): make these real numbers
{-0.00127, 0.298196, -0.001524, 0.305054, 0.0149098,
{-0.001778, 0.000762, 0, 0}, {-0.001778, 0.009906, 0, 0}, {0.006096, 0.026416, 0, 0},
- shooter_zeroing_off_speed,
- shooter_zeroing_speed
+ shooter_zeroing_speed,
+ shooter_unload_speed
},
{0.5,
0.1,
@@ -89,8 +89,8 @@
// TODO(ben): make these real numbers
{-0.00127, 0.298196, -0.001524, 0.305054, 0.0149098,
{-0.001778, 0.000762, 0, 0}, {-0.001778, 0.009906, 0, 0}, {0.006096, 0.026416, 0, 0},
- shooter_zeroing_off_speed,
- shooter_zeroing_speed
+ shooter_zeroing_speed,
+ shooter_unload_speed
},
{0.5,
0.1,
@@ -123,8 +123,8 @@
{-0.002, 0.000446, -0.002, 0.000446},
{-0.002, 0.009078, -0.002, 0.009078},
{0.003869, 0.026194, 0.003869, 0.026194},
- shooter_zeroing_off_speed,
- shooter_zeroing_speed
+ shooter_zeroing_speed,
+ shooter_unload_speed
},
{0.400000,
0.200000,