commit 7003a36b4f9b36764158195540c2d8576e673053
author Austin Schuh <austin.linux@gmail.com> Sun Apr 17 19:13:00 2022 -0700
committer Austin Schuh <austin.linux@gmail.com> Wed May 11 20:06:09 2022 -0700
tree 91332fe97775bf45a7d3894905cf24aaad398389
parent 9651c5a792baaf534672d32948e03b9c7d6d8da4

Speed up the turret acceleration

Faster reload times!

Change-Id: Id7daef61482de6e997a5e0e17cbce6505c53ace4
Signed-off-by: Austin Schuh <austin.linux@gmail.com>

y2022/control_loops/superstructure/turret/aiming.cc

diff --git a/y2022/control_loops/superstructure/turret/aiming.cc b/y2022/control_loops/superstructure/turret/aiming.cc
index 6320cb7..c570856 100644
--- a/y2022/control_loops/superstructure/turret/aiming.cc
+++ b/y2022/control_loops/superstructure/turret/aiming.cc
@@ -18,7 +18,7 @@
 constexpr double kTurretZeroOffset = M_PI;
 
 constexpr double kMaxProfiledVelocity = 10.0;
-constexpr double kMaxProfiledAccel = 20.0;
+constexpr double kMaxProfiledAccel = 25.0;
 
 flatbuffers::DetachedBuffer MakePrefilledGoal() {
   flatbuffers::FlatBufferBuilder fbb;

y2022/joystick_reader.cc

diff --git a/y2022/joystick_reader.cc b/y2022/joystick_reader.cc
index 26c7f33..59d495a 100644
--- a/y2022/joystick_reader.cc
+++ b/y2022/joystick_reader.cc
@@ -308,7 +308,7 @@
       if (turret_pos.has_value()) {
         turret_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
             *builder.fbb(), turret_pos.value(),
-            CreateProfileParameters(*builder.fbb(), 10.0, 20.0));
+            CreateProfileParameters(*builder.fbb(), 10.0, 25.0));
       }
 
       flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>