| commit | 731c06db4d55e066f9b505188319edf4e7f25d07 | [log] [tgz] |
|---|---|---|
| author | Austin Schuh <austin.linux@gmail.com> | Sun Apr 03 21:36:07 2016 -0700 |
| committer | Austin Schuh <austin.linux@gmail.com> | Wed Apr 13 22:21:45 2016 -0700 |
| tree | c4ccd6038fae279ea6843b21161d04c631e71d31 | |
| parent | 943fcbdd3f6a79a81ab885e4404e9a980963ccfa [diff] |
Re-tuned steering. Change-Id: Ie2091f2922c1b1615a6b5168a2120ca2fb518d53
diff --git a/frc971/control_loops/drivetrain/polydrivetrain.cc b/frc971/control_loops/drivetrain/polydrivetrain.cc index 2383c83..121a231 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 = 0.55; + const double kWheelNonLinearity = 0.25; // Apply a sin function that's scaled to make it feel better. const double angular_range = M_PI_2 * kWheelNonLinearity;