commit 6e4b5fa475eb19fde47209597585aae025a1bd0b
author Austin Schuh <austin@peloton-tech.com> Sun Dec 14 14:20:10 2014 -0800
committer Austin Schuh <austin@peloton-tech.com> Mon Dec 22 23:19:19 2014 -0800
tree 14a48889230a9fb8e83bf576ac08373e1cfc3e9e
parent 3ba10f02d7e4790b1348931a5ed2b47e89c39bf0

Loosened shooter velocity threshold.

Change-Id: I0b67f434be39ad48e60ad9c7da17ef017a6699b2

frc971/control_loops/shooter/shooter.cc

diff --git a/frc971/control_loops/shooter/shooter.cc b/frc971/control_loops/shooter/shooter.cc
index 8e283ff..2a35c62 100755
--- a/frc971/control_loops/shooter/shooter.cc
+++ b/frc971/control_loops/shooter/shooter.cc
@@ -449,9 +449,8 @@
       LOG(DEBUG, "PDIFF: absolute_position: %.2f, pow: %.2f\n",
           shooter_.absolute_position(), PowerToPosition(goal->shot_power));
       if (::std::abs(shooter_.absolute_position() -
-                     PowerToPosition(goal->shot_power)) +
-              ::std::abs(shooter_.absolute_velocity()) <
-          0.001) {
+                     PowerToPosition(goal->shot_power)) < 0.001 &&
+          ::std::abs(shooter_.absolute_velocity()) < 0.005) {
         // We are there, set the brake and move on.
         latch_piston_ = true;
         brake_piston_ = true;