Relax the shooter ready velocity tolerances
We were chattering between ready and not ready a *lot*. Open up the
tolerances a bit so we are faster to get the shot off.
We should consider hysterisis as well at some point.
Change-Id: I952cebc4810ab4aec5e782e1dd8e0f076ac1a123
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
Signed-off-by: milind-u <milind.upadhyay@gmail.com>
diff --git a/y2020/control_loops/superstructure/shooter/shooter.h b/y2020/control_loops/superstructure/shooter/shooter.h
index f41b882..7a3393b 100644
--- a/y2020/control_loops/superstructure/shooter/shooter.h
+++ b/y2020/control_loops/superstructure/shooter/shooter.h
@@ -17,6 +17,9 @@
// Handles all flywheels together.
class Shooter {
public:
+ static constexpr double kVelocityToleranceFinisher = 3.0;
+ static constexpr double kVelocityToleranceAccelerator = 4.0;
+
Shooter();
flatbuffers::Offset<ShooterStatus> RunIteration(