commit 76af51e0bce35bfa34058c76bbb92cafbc99d14a
author Austin Schuh <austin.linux@gmail.com> Sun Apr 09 18:32:38 2017 -0700
committer Austin Schuh <austin.linux@gmail.com> Wed Apr 12 20:41:01 2017 -0700
tree abdb8f72c367ec08bfc97018922cb4a7b1751ed3
parent 51b1bae1d7f0c2fbeb6b204d677fa3f6a886a943

Tuned auto at SVR.

Change-Id: Ica32ea44d33fed39c7ebfce3874923d9f6b190bd

y2017/actors/autonomous_actor.cc

diff --git a/y2017/actors/autonomous_actor.cc b/y2017/actors/autonomous_actor.cc
index 701f648..51ea775 100644
--- a/y2017/actors/autonomous_actor.cc
+++ b/y2017/actors/autonomous_actor.cc
@@ -54,6 +54,13 @@
       if (!WaitForDriveNear(2.75, 0.0)) return true;
 
       set_intake_goal(0.23);
+      set_turret_goal(0.0);
+      // Values good for blue:
+      // TODO(austin): Drive these off the auto switch.
+      //set_hood_goal(0.355 + 0.01 + 0.005);
+      //set_shooter_velocity(355.0);
+      set_hood_goal(0.355 + 0.01 + 0.005 + 0.01 + 0.01);
+      set_shooter_velocity(351.0);
       SendSuperstructureGoal();
       StartDrive(0.0, -M_PI / 4.0 * kDriveDirection, kSlowDrive, kSlowTurn);
       if (!WaitForDriveNear(0.05, 0.0)) return true;
@@ -65,17 +72,15 @@
       if (!WaitForDriveNear(0.05, 0.2)) return true;
 
       set_vision_track(true);
-      set_turret_goal(0.0);
-      set_hood_goal(0.63);
-      set_shooter_velocity(371.0);
+
+      set_indexer_angular_velocity(-1.8 * M_PI);
       SendSuperstructureGoal();
 
       this_thread::sleep_for(chrono::milliseconds(200));
 
       StartDrive(0.0, (-0.15) * kDriveDirection, kSlowDrive, kSlowTurn);
       if (!WaitForDriveNear(0.05, 0.02)) return true;
-      set_indexer_angular_velocity(-1.8 * M_PI);
-      SendSuperstructureGoal();
+
       LOG(INFO, "Started shooting at %f\n",
           DoubleSeconds(monotonic_clock::now() - start_time));